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        Module&nbsp;GoodFETMCPCAN
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<h1 class="epydoc">Source Code for <a href="GoodFETMCPCAN-module.html">Module GoodFETMCPCAN</a></h1>
<pre class="py-src">
<a name="L1"></a><tt class="py-lineno">  1</tt>  <tt class="py-line"><tt class="py-comment">#!/usr/bin/env python</tt> </tt>
<a name="L2"></a><tt class="py-lineno">  2</tt>  <tt class="py-line"><tt class="py-comment"># GoodFET MCP2515 CAN Bus Client</tt> </tt>
<a name="L3"></a><tt class="py-lineno">  3</tt>  <tt class="py-line"><tt class="py-comment"># </tt> </tt>
<a name="L4"></a><tt class="py-lineno">  4</tt>  <tt class="py-line"><tt class="py-comment"># (C) 2012 Travis Goodspeed &lt;travis at radiantmachines.com&gt;</tt> </tt>
<a name="L5"></a><tt class="py-lineno">  5</tt>  <tt class="py-line"><tt class="py-comment">#</tt> </tt>
<a name="L6"></a><tt class="py-lineno">  6</tt>  <tt class="py-line"><tt class="py-comment"># WORKING COPY</tt> </tt>
<a name="L7"></a><tt class="py-lineno">  7</tt>  <tt class="py-line"><tt class="py-comment"># Currently being updated by Siege Technology's ENGS89 team</tt> </tt>
<a name="L8"></a><tt class="py-lineno">  8</tt>  <tt class="py-line"><tt class="py-comment"># Primary contact: Theodore Sumers &lt;ted.sumers at gmail.com&gt;</tt> </tt>
<a name="L9"></a><tt class="py-lineno">  9</tt>  <tt class="py-line"><tt class="py-comment"># ADDED FUNCTIONALITY:</tt> </tt>
<a name="L10"></a><tt class="py-lineno"> 10</tt>  <tt class="py-line"><tt class="py-comment">#   10.4/41.6/83.3 kHz sniffing</tt> </tt>
<a name="L11"></a><tt class="py-lineno"> 11</tt>  <tt class="py-line"><tt class="py-comment">#   setbitrate</tt> </tt>
<a name="L12"></a><tt class="py-lineno"> 12</tt>  <tt class="py-line"><tt class="py-comment">#   debugs on TX and RX packet</tt> </tt>
<a name="L13"></a><tt class="py-lineno"> 13</tt>  <tt class="py-line"><tt class="py-comment">#   int-based state change reqs for preserving state</tt> </tt>
<a name="L14"></a><tt class="py-lineno"> 14</tt>  <tt class="py-line"><tt class="py-comment">#</tt> </tt>
<a name="L15"></a><tt class="py-lineno"> 15</tt>  <tt class="py-line"> </tt>
<a name="L16"></a><tt class="py-lineno"> 16</tt>  <tt class="py-line"><tt class="py-comment"># The MCP2515 is a CAN Bus to SPI adapter from Microchip Technology,</tt> </tt>
<a name="L17"></a><tt class="py-lineno"> 17</tt>  <tt class="py-line"><tt class="py-comment"># as used in the Goodthopter series of boards.  It requires a separate</tt> </tt>
<a name="L18"></a><tt class="py-lineno"> 18</tt>  <tt class="py-line"><tt class="py-comment"># chip for voltage level conversion, such as the MCP2551.</tt> </tt>
<a name="L19"></a><tt class="py-lineno"> 19</tt>  <tt class="py-line"> </tt>
<a name="L20"></a><tt class="py-lineno"> 20</tt>  <tt class="py-line"><tt class="py-keyword">import</tt> <tt class="py-name">sys</tt><tt class="py-op">,</tt> <tt class="py-name">time</tt><tt class="py-op">,</tt> <tt class="py-name">string</tt><tt class="py-op">,</tt> <tt class="py-name">cStringIO</tt><tt class="py-op">,</tt> <tt class="py-name">struct</tt><tt class="py-op">,</tt> <tt class="py-name">glob</tt><tt class="py-op">,</tt> <tt class="py-name">os</tt><tt class="py-op">;</tt> </tt>
<a name="L21"></a><tt class="py-lineno"> 21</tt>  <tt class="py-line"> </tt>
<a name="L22"></a><tt class="py-lineno"> 22</tt>  <tt class="py-line"><tt class="py-keyword">from</tt> <tt class="py-name">GoodFETSPI</tt> <tt class="py-keyword">import</tt> <tt class="py-name">GoodFETSPI</tt><tt class="py-op">;</tt> </tt>
<a name="L23"></a><tt class="py-lineno"> 23</tt>  <tt class="py-line"> </tt>
<a name="GoodFETMCPCAN"></a><div id="GoodFETMCPCAN-def"><a name="L24"></a><tt class="py-lineno"> 24</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN-toggle" onclick="return toggle('GoodFETMCPCAN');">-</a><tt class="py-line"><tt class="py-keyword">class</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html">GoodFETMCPCAN</a><tt class="py-op">(</tt><tt class="py-base-class">GoodFETSPI</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN-collapsed" style="display:none;" pad="+++" indent="++++"></div><div id="GoodFETMCPCAN-expanded"><a name="L25"></a><tt class="py-lineno"> 25</tt>  <tt class="py-line">    <tt class="py-docstring">"""This class uses the regular SPI app to implement a CAN Bus</tt> </tt>
<a name="L26"></a><tt class="py-lineno"> 26</tt>  <tt class="py-line"><tt class="py-docstring">    adapter on the Goodthopter10 hardware."""</tt> </tt>
<a name="L27"></a><tt class="py-lineno"> 27</tt>  <tt class="py-line">    <tt id="link-0" class="py-name" targets="Variable GoodFETMCPCAN.GoodFETMCPCAN.MCPMODES=GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPMODES"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPMODES" class="py-name" href="#" onclick="return doclink('link-0', 'MCPMODES', 'link-0');">MCPMODES</a></tt><tt class="py-op">=</tt><tt class="py-op">[</tt><tt class="py-string">"Normal"</tt><tt class="py-op">,</tt><tt class="py-string">"Sleep"</tt><tt class="py-op">,</tt><tt class="py-string">"Loopback"</tt><tt class="py-op">,</tt><tt class="py-string">"Listen-only"</tt><tt class="py-op">,</tt><tt class="py-string">"Configuration"</tt><tt class="py-op">,</tt> </tt>
<a name="L28"></a><tt class="py-lineno"> 28</tt>  <tt class="py-line">              <tt class="py-string">"UNKNOWN"</tt><tt class="py-op">,</tt><tt class="py-string">"UNKNOWN"</tt><tt class="py-op">,</tt><tt class="py-string">"PowerUp"</tt><tt class="py-op">]</tt><tt class="py-op">;</tt> </tt>
<a name="L29"></a><tt class="py-lineno"> 29</tt>  <tt class="py-line">     </tt>
<a name="GoodFETMCPCAN.MCPsetup"></a><div id="GoodFETMCPCAN.MCPsetup-def"><a name="L30"></a><tt class="py-lineno"> 30</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.MCPsetup-toggle" onclick="return toggle('GoodFETMCPCAN.MCPsetup');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPsetup">MCPsetup</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.MCPsetup-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.MCPsetup-expanded"><a name="L31"></a><tt class="py-lineno"> 31</tt>  <tt class="py-line">        <tt class="py-docstring">"""Sets up the ports."""</tt> </tt>
<a name="L32"></a><tt class="py-lineno"> 32</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt class="py-name">SPIsetup</tt><tt class="py-op">(</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L33"></a><tt class="py-lineno"> 33</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-1" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.MCPreset()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPreset"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPreset" class="py-name" href="#" onclick="return doclink('link-1', 'MCPreset', 'link-1');">MCPreset</a></tt><tt class="py-op">(</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> <tt class="py-comment">#Reset the chip.</tt> </tt>
<a name="L34"></a><tt class="py-lineno"> 34</tt>  <tt class="py-line">        <tt class="py-comment"># We're going to set some registers, so we must be in config</tt> </tt>
<a name="L35"></a><tt class="py-lineno"> 35</tt>  <tt class="py-line">        <tt class="py-comment"># mode.</tt> </tt>
<a name="L36"></a><tt class="py-lineno"> 36</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-2" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.MCPreqstatConfiguration()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPreqstatConfiguration"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPreqstatConfiguration" class="py-name" href="#" onclick="return doclink('link-2', 'MCPreqstatConfiguration', 'link-2');">MCPreqstatConfiguration</a></tt><tt class="py-op">(</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L37"></a><tt class="py-lineno"> 37</tt>  <tt class="py-line">         </tt>
<a name="L38"></a><tt class="py-lineno"> 38</tt>  <tt class="py-line">        <tt class="py-comment"># If we don't enable promiscous mode, we'll miss a lot of</tt> </tt>
<a name="L39"></a><tt class="py-lineno"> 39</tt>  <tt class="py-line">        <tt class="py-comment"># packets.  It can be manually disabled later.</tt> </tt>
<a name="L40"></a><tt class="py-lineno"> 40</tt>  <tt class="py-line">        <tt class="py-comment">#self.poke8(0x60,0xFF); #TODO Does this have any unpleasant side effects?</tt> </tt>
<a name="L41"></a><tt class="py-lineno"> 41</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-3" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.poke8()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#poke8"><a title="GoodFETMCPCAN.GoodFETMCPCAN.poke8" class="py-name" href="#" onclick="return doclink('link-3', 'poke8', 'link-3');">poke8</a></tt><tt class="py-op">(</tt><tt class="py-number">0x60</tt><tt class="py-op">,</tt><tt class="py-number">0x66</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> <tt class="py-comment">#Wanted FF, but some bits are reserved.</tt> </tt>
</div><a name="L42"></a><tt class="py-lineno"> 42</tt>  <tt class="py-line"> </tt>
<a name="L43"></a><tt class="py-lineno"> 43</tt>  <tt class="py-line">    <tt class="py-comment">#Array of supported rates.</tt> </tt>
<a name="L44"></a><tt class="py-lineno"> 44</tt>  <tt class="py-line">    <tt id="link-4" class="py-name" targets="Variable GoodFETMCPCAN.GoodFETMCPCAN.MCPrates=GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPrates"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPrates" class="py-name" href="#" onclick="return doclink('link-4', 'MCPrates', 'link-4');">MCPrates</a></tt><tt class="py-op">=</tt><tt class="py-op">[</tt><tt class="py-number">10.4</tt><tt class="py-op">,</tt> <tt class="py-number">41.6</tt><tt class="py-op">,</tt> <tt class="py-number">83.3</tt><tt class="py-op">,</tt> <tt class="py-number">100</tt><tt class="py-op">,</tt> <tt class="py-number">125</tt><tt class="py-op">,</tt> <tt class="py-number">250</tt><tt class="py-op">,</tt> <tt class="py-number">500</tt><tt class="py-op">,</tt> <tt class="py-number">1000</tt><tt class="py-op">]</tt><tt class="py-op">;</tt> </tt>
<a name="L45"></a><tt class="py-lineno"> 45</tt>  <tt class="py-line">     </tt>
<a name="GoodFETMCPCAN.MCPreset"></a><div id="GoodFETMCPCAN.MCPreset-def"><a name="L46"></a><tt class="py-lineno"> 46</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.MCPreset-toggle" onclick="return toggle('GoodFETMCPCAN.MCPreset');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPreset">MCPreset</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.MCPreset-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.MCPreset-expanded"><a name="L47"></a><tt class="py-lineno"> 47</tt>  <tt class="py-line">        <tt class="py-docstring">"""Reset the MCP2515 chip."""</tt> </tt>
<a name="L48"></a><tt class="py-lineno"> 48</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt class="py-name">SPItrans</tt><tt class="py-op">(</tt><tt class="py-op">[</tt><tt class="py-number">0xC0</tt><tt class="py-op">]</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div><a name="L49"></a><tt class="py-lineno"> 49</tt>  <tt class="py-line">     </tt>
<a name="L50"></a><tt class="py-lineno"> 50</tt>  <tt class="py-line">       </tt>
<a name="L51"></a><tt class="py-lineno"> 51</tt>  <tt class="py-line">    <tt class="py-comment">################    SETTING BAUD RATE   ################</tt> </tt>
<a name="L52"></a><tt class="py-lineno"> 52</tt>  <tt class="py-line">     </tt>
<a name="L53"></a><tt class="py-lineno"> 53</tt>  <tt class="py-line">     </tt>
<a name="GoodFETMCPCAN.MCPsetrate"></a><div id="GoodFETMCPCAN.MCPsetrate-def"><a name="L54"></a><tt class="py-lineno"> 54</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.MCPsetrate-toggle" onclick="return toggle('GoodFETMCPCAN.MCPsetrate');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPsetrate">MCPsetrate</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">,</tt><tt class="py-param">rate</tt><tt class="py-op">=</tt><tt class="py-number">125</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.MCPsetrate-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.MCPsetrate-expanded"><a name="L55"></a><tt class="py-lineno"> 55</tt>  <tt class="py-line">        <tt class="py-docstring">"""Sets the data rate in kHz."""</tt> </tt>
<a name="L56"></a><tt class="py-lineno"> 56</tt>  <tt class="py-line">        <tt class="py-comment"># Now we need to set the timing registers.  See chapter 5 of</tt> </tt>
<a name="L57"></a><tt class="py-lineno"> 57</tt>  <tt class="py-line">        <tt class="py-comment"># the MCP2515 datasheet to get some clue as to how this</tt> </tt>
<a name="L58"></a><tt class="py-lineno"> 58</tt>  <tt class="py-line">        <tt class="py-comment"># arithmetic of this works.</tt> </tt>
<a name="L59"></a><tt class="py-lineno"> 59</tt>  <tt class="py-line"> </tt>
<a name="L60"></a><tt class="py-lineno"> 60</tt>  <tt class="py-line">         </tt>
<a name="L61"></a><tt class="py-lineno"> 61</tt>  <tt class="py-line">        <tt class="py-comment">#STORE the prior status</tt> </tt>
<a name="L62"></a><tt class="py-lineno"> 62</tt>  <tt class="py-line">        <tt class="py-name">oldstatus</tt><tt class="py-op">=</tt><tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-5" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.MCPcanstatint()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPcanstatint"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPcanstatint" class="py-name" href="#" onclick="return doclink('link-5', 'MCPcanstatint', 'link-5');">MCPcanstatint</a></tt><tt class="py-op">(</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L63"></a><tt class="py-lineno"> 63</tt>  <tt class="py-line">        <tt class="py-keyword">print</tt> <tt class="py-string">"Setting rate of %i kHz."</tt> <tt class="py-op">%</tt> <tt class="py-name">rate</tt><tt class="py-op">;</tt> </tt>
<a name="L64"></a><tt class="py-lineno"> 64</tt>  <tt class="py-line">        <tt class="py-comment">#print "Current state is %s." % self.MCPcanstatstr();</tt> </tt>
<a name="L65"></a><tt class="py-lineno"> 65</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-6" class="py-name"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPreqstatConfiguration" class="py-name" href="#" onclick="return doclink('link-6', 'MCPreqstatConfiguration', 'link-2');">MCPreqstatConfiguration</a></tt><tt class="py-op">(</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L66"></a><tt class="py-lineno"> 66</tt>  <tt class="py-line">        <tt class="py-comment"># print "Switched to %s state." % self.MCPcanstatstr();</tt> </tt>
<a name="L67"></a><tt class="py-lineno"> 67</tt>  <tt class="py-line">         </tt>
<a name="L68"></a><tt class="py-lineno"> 68</tt>  <tt class="py-line">         </tt>
<a name="L69"></a><tt class="py-lineno"> 69</tt>  <tt class="py-line">        <tt class="py-keyword">if</tt> <tt class="py-name">rate</tt><tt class="py-op">&gt;</tt><tt class="py-number">41</tt> <tt class="py-keyword">and</tt> <tt class="py-name">rate</tt><tt class="py-op">&lt;</tt><tt class="py-number">42</tt><tt class="py-op">:</tt> </tt>
<a name="L70"></a><tt class="py-lineno"> 70</tt>  <tt class="py-line">            <tt class="py-comment"># NOT CHECKED: based on kvaser website.</tt> </tt>
<a name="L71"></a><tt class="py-lineno"> 71</tt>  <tt class="py-line">            <tt class="py-comment"># Sets baud rate for 41.6 kbps</tt> </tt>
<a name="L72"></a><tt class="py-lineno"> 72</tt>  <tt class="py-line">            <tt class="py-name">CNF1</tt><tt class="py-op">=</tt><tt class="py-number">0x8e</tt><tt class="py-op">;</tt> </tt>
<a name="L73"></a><tt class="py-lineno"> 73</tt>  <tt class="py-line">            <tt class="py-name">CNF2</tt><tt class="py-op">=</tt><tt class="py-number">0xa3</tt><tt class="py-op">;</tt> </tt>
<a name="L74"></a><tt class="py-lineno"> 74</tt>  <tt class="py-line">            <tt class="py-name">CNF3</tt><tt class="py-op">=</tt><tt class="py-number">0x05</tt><tt class="py-op">;</tt> </tt>
<a name="L75"></a><tt class="py-lineno"> 75</tt>  <tt class="py-line">        <tt class="py-keyword">elif</tt> <tt class="py-name">rate</tt><tt class="py-op">&gt;</tt><tt class="py-number">10</tt> <tt class="py-keyword">and</tt> <tt class="py-name">rate</tt><tt class="py-op">&lt;</tt><tt class="py-number">11</tt><tt class="py-op">:</tt> </tt>
<a name="L76"></a><tt class="py-lineno"> 76</tt>  <tt class="py-line">            <tt class="py-comment"># NOT CHECKED: based on kvaser website.</tt> </tt>
<a name="L77"></a><tt class="py-lineno"> 77</tt>  <tt class="py-line">            <tt class="py-comment"># Sets baud rate for 10.4 kbps</tt> </tt>
<a name="L78"></a><tt class="py-lineno"> 78</tt>  <tt class="py-line">            <tt class="py-name">CNF1</tt><tt class="py-op">=</tt><tt class="py-number">0xbb</tt><tt class="py-op">;</tt> </tt>
<a name="L79"></a><tt class="py-lineno"> 79</tt>  <tt class="py-line">            <tt class="py-name">CNF2</tt><tt class="py-op">=</tt><tt class="py-number">0xa3</tt><tt class="py-op">;</tt> </tt>
<a name="L80"></a><tt class="py-lineno"> 80</tt>  <tt class="py-line">            <tt class="py-name">CNF3</tt><tt class="py-op">=</tt><tt class="py-number">0x05</tt><tt class="py-op">;</tt>   </tt>
<a name="L81"></a><tt class="py-lineno"> 81</tt>  <tt class="py-line">        <tt class="py-keyword">elif</tt> <tt class="py-name">rate</tt><tt class="py-op">==</tt><tt class="py-number">125</tt><tt class="py-op">:</tt> </tt>
<a name="L82"></a><tt class="py-lineno"> 82</tt>  <tt class="py-line">            <tt class="py-comment">#125 kHz, 16 TQ, not quite as worked out above.</tt> </tt>
<a name="L83"></a><tt class="py-lineno"> 83</tt>  <tt class="py-line">            <tt class="py-name">CNF1</tt><tt class="py-op">=</tt><tt class="py-number">0x04</tt><tt class="py-op">;</tt> </tt>
<a name="L84"></a><tt class="py-lineno"> 84</tt>  <tt class="py-line">            <tt class="py-name">CNF2</tt><tt class="py-op">=</tt><tt class="py-number">0xB8</tt><tt class="py-op">;</tt> </tt>
<a name="L85"></a><tt class="py-lineno"> 85</tt>  <tt class="py-line">            <tt class="py-name">CNF3</tt><tt class="py-op">=</tt><tt class="py-number">0x05</tt><tt class="py-op">;</tt> </tt>
<a name="L86"></a><tt class="py-lineno"> 86</tt>  <tt class="py-line">        <tt class="py-keyword">elif</tt> <tt class="py-name">rate</tt><tt class="py-op">==</tt><tt class="py-number">100</tt><tt class="py-op">:</tt> </tt>
<a name="L87"></a><tt class="py-lineno"> 87</tt>  <tt class="py-line">            <tt class="py-comment">#100 kHz, 20 TQ</tt> </tt>
<a name="L88"></a><tt class="py-lineno"> 88</tt>  <tt class="py-line">            <tt class="py-name">CNF1</tt><tt class="py-op">=</tt><tt class="py-number">0x04</tt><tt class="py-op">;</tt> </tt>
<a name="L89"></a><tt class="py-lineno"> 89</tt>  <tt class="py-line">            <tt class="py-name">CNF2</tt><tt class="py-op">=</tt><tt class="py-number">0xBA</tt><tt class="py-op">;</tt> </tt>
<a name="L90"></a><tt class="py-lineno"> 90</tt>  <tt class="py-line">            <tt class="py-name">CNF3</tt><tt class="py-op">=</tt><tt class="py-number">0x07</tt><tt class="py-op">;</tt> </tt>
<a name="L91"></a><tt class="py-lineno"> 91</tt>  <tt class="py-line">        <tt class="py-keyword">elif</tt> <tt class="py-name">rate</tt><tt class="py-op">&gt;</tt><tt class="py-number">83</tt> <tt class="py-keyword">and</tt> <tt class="py-name">rate</tt><tt class="py-op">&lt;</tt><tt class="py-number">83.5</tt><tt class="py-op">:</tt> </tt>
<a name="L92"></a><tt class="py-lineno"> 92</tt>  <tt class="py-line">            <tt class="py-comment">#83+1/3 kHz, 8 TQ</tt> </tt>
<a name="L93"></a><tt class="py-lineno"> 93</tt>  <tt class="py-line">            <tt class="py-comment"># 0.04% error from 83.30</tt> </tt>
<a name="L94"></a><tt class="py-lineno"> 94</tt>  <tt class="py-line">            <tt class="py-name">CNF1</tt><tt class="py-op">=</tt><tt class="py-number">0x0E</tt><tt class="py-op">;</tt> </tt>
<a name="L95"></a><tt class="py-lineno"> 95</tt>  <tt class="py-line">            <tt class="py-name">CNF2</tt><tt class="py-op">=</tt><tt class="py-number">0x90</tt><tt class="py-op">;</tt> </tt>
<a name="L96"></a><tt class="py-lineno"> 96</tt>  <tt class="py-line">            <tt class="py-name">CNF3</tt><tt class="py-op">=</tt><tt class="py-number">0x02</tt><tt class="py-op">;</tt> </tt>
<a name="L97"></a><tt class="py-lineno"> 97</tt>  <tt class="py-line">        <tt class="py-keyword">elif</tt> <tt class="py-name">rate</tt><tt class="py-op">==</tt><tt class="py-number">250</tt><tt class="py-op">:</tt> </tt>
<a name="L98"></a><tt class="py-lineno"> 98</tt>  <tt class="py-line">            <tt class="py-comment">#256 kHz, 20 TQ</tt> </tt>
<a name="L99"></a><tt class="py-lineno"> 99</tt>  <tt class="py-line">            <tt class="py-name">CNF1</tt><tt class="py-op">=</tt><tt class="py-number">0x01</tt><tt class="py-op">;</tt> </tt>
<a name="L100"></a><tt class="py-lineno">100</tt>  <tt class="py-line">            <tt class="py-name">CNF2</tt><tt class="py-op">=</tt><tt class="py-number">0xBA</tt><tt class="py-op">;</tt> </tt>
<a name="L101"></a><tt class="py-lineno">101</tt>  <tt class="py-line">            <tt class="py-name">CNF3</tt><tt class="py-op">=</tt><tt class="py-number">0x07</tt><tt class="py-op">;</tt> </tt>
<a name="L102"></a><tt class="py-lineno">102</tt>  <tt class="py-line">        <tt class="py-keyword">elif</tt> <tt class="py-name">rate</tt><tt class="py-op">==</tt><tt class="py-number">500</tt><tt class="py-op">:</tt> </tt>
<a name="L103"></a><tt class="py-lineno">103</tt>  <tt class="py-line">            <tt class="py-comment">#500 kHz, 20 TQ</tt> </tt>
<a name="L104"></a><tt class="py-lineno">104</tt>  <tt class="py-line">            <tt class="py-name">CNF1</tt><tt class="py-op">=</tt><tt class="py-number">0x00</tt><tt class="py-op">;</tt> </tt>
<a name="L105"></a><tt class="py-lineno">105</tt>  <tt class="py-line">            <tt class="py-name">CNF2</tt><tt class="py-op">=</tt><tt class="py-number">0xBA</tt><tt class="py-op">;</tt> </tt>
<a name="L106"></a><tt class="py-lineno">106</tt>  <tt class="py-line">            <tt class="py-name">CNF3</tt><tt class="py-op">=</tt><tt class="py-number">0x07</tt><tt class="py-op">;</tt> </tt>
<a name="L107"></a><tt class="py-lineno">107</tt>  <tt class="py-line">        <tt class="py-keyword">elif</tt> <tt class="py-name">rate</tt><tt class="py-op">==</tt><tt class="py-number">1000</tt><tt class="py-op">:</tt> </tt>
<a name="L108"></a><tt class="py-lineno">108</tt>  <tt class="py-line">            <tt class="py-comment">#1,000 kHz, 10 TQ</tt> </tt>
<a name="L109"></a><tt class="py-lineno">109</tt>  <tt class="py-line">            <tt class="py-name">CNF1</tt><tt class="py-op">=</tt><tt class="py-number">0x00</tt><tt class="py-op">;</tt> </tt>
<a name="L110"></a><tt class="py-lineno">110</tt>  <tt class="py-line">            <tt class="py-name">CNF2</tt><tt class="py-op">=</tt><tt class="py-number">0xA0</tt><tt class="py-op">;</tt> </tt>
<a name="L111"></a><tt class="py-lineno">111</tt>  <tt class="py-line">            <tt class="py-name">CNF3</tt><tt class="py-op">=</tt><tt class="py-number">0x02</tt><tt class="py-op">;</tt> </tt>
<a name="L112"></a><tt class="py-lineno">112</tt>  <tt class="py-line">            <tt class="py-keyword">print</tt> <tt class="py-string">"WARNING: Because of chip errata, this probably won't work."</tt> </tt>
<a name="L113"></a><tt class="py-lineno">113</tt>  <tt class="py-line">        <tt class="py-keyword">else</tt><tt class="py-op">:</tt> </tt>
<a name="L114"></a><tt class="py-lineno">114</tt>  <tt class="py-line">            <tt class="py-keyword">print</tt> <tt class="py-string">"Given unsupported rate of %i kHz."</tt> <tt class="py-op">%</tt> <tt class="py-name">rate</tt><tt class="py-op">;</tt> </tt>
<a name="L115"></a><tt class="py-lineno">115</tt>  <tt class="py-line">            <tt class="py-keyword">print</tt> <tt class="py-string">"Defaulting to 125kHz."</tt><tt class="py-op">;</tt> </tt>
<a name="L116"></a><tt class="py-lineno">116</tt>  <tt class="py-line">            <tt class="py-name">CNF1</tt><tt class="py-op">=</tt><tt class="py-number">0x04</tt><tt class="py-op">;</tt> </tt>
<a name="L117"></a><tt class="py-lineno">117</tt>  <tt class="py-line">            <tt class="py-name">CNF2</tt><tt class="py-op">=</tt><tt class="py-number">0xB8</tt><tt class="py-op">;</tt> </tt>
<a name="L118"></a><tt class="py-lineno">118</tt>  <tt class="py-line">            <tt class="py-name">CNF3</tt><tt class="py-op">=</tt><tt class="py-number">0x05</tt><tt class="py-op">;</tt> </tt>
<a name="L119"></a><tt class="py-lineno">119</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-7" class="py-name"><a title="GoodFETMCPCAN.GoodFETMCPCAN.poke8" class="py-name" href="#" onclick="return doclink('link-7', 'poke8', 'link-3');">poke8</a></tt><tt class="py-op">(</tt><tt class="py-number">0x2a</tt><tt class="py-op">,</tt><tt class="py-name">CNF1</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L120"></a><tt class="py-lineno">120</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-8" class="py-name"><a title="GoodFETMCPCAN.GoodFETMCPCAN.poke8" class="py-name" href="#" onclick="return doclink('link-8', 'poke8', 'link-3');">poke8</a></tt><tt class="py-op">(</tt><tt class="py-number">0x29</tt><tt class="py-op">,</tt><tt class="py-name">CNF2</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L121"></a><tt class="py-lineno">121</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-9" class="py-name"><a title="GoodFETMCPCAN.GoodFETMCPCAN.poke8" class="py-name" href="#" onclick="return doclink('link-9', 'poke8', 'link-3');">poke8</a></tt><tt class="py-op">(</tt><tt class="py-number">0x28</tt><tt class="py-op">,</tt><tt class="py-name">CNF3</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L122"></a><tt class="py-lineno">122</tt>  <tt class="py-line"> </tt>
<a name="L123"></a><tt class="py-lineno">123</tt>  <tt class="py-line">        <tt class="py-comment"># and now return to whatever state we were in before</tt> </tt>
<a name="L124"></a><tt class="py-lineno">124</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-10" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.MCPreqstat()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPreqstat"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPreqstat" class="py-name" href="#" onclick="return doclink('link-10', 'MCPreqstat', 'link-10');">MCPreqstat</a></tt><tt class="py-op">(</tt><tt class="py-name">oldstatus</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div><a name="L125"></a><tt class="py-lineno">125</tt>  <tt class="py-line">        <tt class="py-comment">#print "Reverted to %s." % self.MCPcanstatstr();</tt> </tt>
<a name="L126"></a><tt class="py-lineno">126</tt>  <tt class="py-line"> </tt>
<a name="L127"></a><tt class="py-lineno">127</tt>  <tt class="py-line">     </tt>
<a name="L128"></a><tt class="py-lineno">128</tt>  <tt class="py-line">    <tt class="py-comment">#################   STATE MANAGEMENT   ##################</tt> </tt>
<a name="L129"></a><tt class="py-lineno">129</tt>  <tt class="py-line"> </tt>
<a name="GoodFETMCPCAN.MCPcanstat"></a><div id="GoodFETMCPCAN.MCPcanstat-def"><a name="L130"></a><tt class="py-lineno">130</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.MCPcanstat-toggle" onclick="return toggle('GoodFETMCPCAN.MCPcanstat');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPcanstat">MCPcanstat</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.MCPcanstat-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.MCPcanstat-expanded"><a name="L131"></a><tt class="py-lineno">131</tt>  <tt class="py-line">        <tt class="py-docstring">"""Get the CAN Status."""</tt> </tt>
<a name="L132"></a><tt class="py-lineno">132</tt>  <tt class="py-line">        <tt class="py-keyword">return</tt> <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-11" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.peek8()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#peek8"><a title="GoodFETMCPCAN.GoodFETMCPCAN.peek8" class="py-name" href="#" onclick="return doclink('link-11', 'peek8', 'link-11');">peek8</a></tt><tt class="py-op">(</tt><tt class="py-number">0x0E</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div><a name="GoodFETMCPCAN.MCPcanstatstr"></a><div id="GoodFETMCPCAN.MCPcanstatstr-def"><a name="L133"></a><tt class="py-lineno">133</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.MCPcanstatstr-toggle" onclick="return toggle('GoodFETMCPCAN.MCPcanstatstr');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPcanstatstr">MCPcanstatstr</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.MCPcanstatstr-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.MCPcanstatstr-expanded"><a name="L134"></a><tt class="py-lineno">134</tt>  <tt class="py-line">        <tt class="py-docstring">"""Read the present status as a string."""</tt> </tt>
<a name="L135"></a><tt class="py-lineno">135</tt>  <tt class="py-line">        <tt class="py-name">opmod</tt><tt class="py-op">=</tt><tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-12" class="py-name"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPcanstatint" class="py-name" href="#" onclick="return doclink('link-12', 'MCPcanstatint', 'link-5');">MCPcanstatint</a></tt><tt class="py-op">(</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L136"></a><tt class="py-lineno">136</tt>  <tt class="py-line">        <tt class="py-keyword">return</tt> <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-13" class="py-name"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPMODES" class="py-name" href="#" onclick="return doclink('link-13', 'MCPMODES', 'link-0');">MCPMODES</a></tt><tt class="py-op">[</tt><tt class="py-name">opmod</tt><tt class="py-op">]</tt><tt class="py-op">;</tt> </tt>
</div><a name="GoodFETMCPCAN.MCPcanstatint"></a><div id="GoodFETMCPCAN.MCPcanstatint-def"><a name="L137"></a><tt class="py-lineno">137</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.MCPcanstatint-toggle" onclick="return toggle('GoodFETMCPCAN.MCPcanstatint');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPcanstatint">MCPcanstatint</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.MCPcanstatint-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.MCPcanstatint-expanded"><a name="L138"></a><tt class="py-lineno">138</tt>  <tt class="py-line">        <tt class="py-docstring">"""Read present status as an int."""</tt> </tt>
<a name="L139"></a><tt class="py-lineno">139</tt>  <tt class="py-line">        <tt class="py-keyword">return</tt> <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-14" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.MCPcanstat()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPcanstat"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPcanstat" class="py-name" href="#" onclick="return doclink('link-14', 'MCPcanstat', 'link-14');">MCPcanstat</a></tt><tt class="py-op">(</tt><tt class="py-op">)</tt><tt class="py-op">&gt;&gt;</tt><tt class="py-number">5</tt><tt class="py-op">;</tt> </tt>
</div><a name="L140"></a><tt class="py-lineno">140</tt>  <tt class="py-line"> </tt>
<a name="L141"></a><tt class="py-lineno">141</tt>  <tt class="py-line">             </tt>
<a name="GoodFETMCPCAN.MCPreqstat"></a><div id="GoodFETMCPCAN.MCPreqstat-def"><a name="L142"></a><tt class="py-lineno">142</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.MCPreqstat-toggle" onclick="return toggle('GoodFETMCPCAN.MCPreqstat');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPreqstat">MCPreqstat</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">,</tt> <tt class="py-param">state</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.MCPreqstat-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.MCPreqstat-expanded"><a name="L143"></a><tt class="py-lineno">143</tt>  <tt class="py-line">        <tt class="py-docstring">"""Set the CAN state."""</tt> </tt>
<a name="L144"></a><tt class="py-lineno">144</tt>  <tt class="py-line">        <tt class="py-keyword">if</tt> <tt class="py-name">state</tt><tt class="py-op">==</tt><tt class="py-number">0</tt><tt class="py-op">:</tt> </tt>
<a name="L145"></a><tt class="py-lineno">145</tt>  <tt class="py-line">            <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-15" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.MCPreqstatNormal()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPreqstatNormal"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPreqstatNormal" class="py-name" href="#" onclick="return doclink('link-15', 'MCPreqstatNormal', 'link-15');">MCPreqstatNormal</a></tt><tt class="py-op">(</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L146"></a><tt class="py-lineno">146</tt>  <tt class="py-line">        <tt class="py-keyword">elif</tt> <tt class="py-name">state</tt><tt class="py-op">==</tt><tt class="py-number">1</tt><tt class="py-op">:</tt> </tt>
<a name="L147"></a><tt class="py-lineno">147</tt>  <tt class="py-line">            <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-16" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.MCPreqstatSleep()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPreqstatSleep"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPreqstatSleep" class="py-name" href="#" onclick="return doclink('link-16', 'MCPreqstatSleep', 'link-16');">MCPreqstatSleep</a></tt><tt class="py-op">(</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L148"></a><tt class="py-lineno">148</tt>  <tt class="py-line">        <tt class="py-keyword">elif</tt> <tt class="py-name">state</tt><tt class="py-op">==</tt><tt class="py-number">2</tt><tt class="py-op">:</tt> </tt>
<a name="L149"></a><tt class="py-lineno">149</tt>  <tt class="py-line">            <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-17" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.MCPreqstatLoopback()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPreqstatLoopback"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPreqstatLoopback" class="py-name" href="#" onclick="return doclink('link-17', 'MCPreqstatLoopback', 'link-17');">MCPreqstatLoopback</a></tt><tt class="py-op">(</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L150"></a><tt class="py-lineno">150</tt>  <tt class="py-line">        <tt class="py-keyword">elif</tt> <tt class="py-name">state</tt><tt class="py-op">==</tt><tt class="py-number">3</tt><tt class="py-op">:</tt> </tt>
<a name="L151"></a><tt class="py-lineno">151</tt>  <tt class="py-line">            <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-18" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.MCPreqstatListenOnly()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPreqstatListenOnly"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPreqstatListenOnly" class="py-name" href="#" onclick="return doclink('link-18', 'MCPreqstatListenOnly', 'link-18');">MCPreqstatListenOnly</a></tt><tt class="py-op">(</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L152"></a><tt class="py-lineno">152</tt>  <tt class="py-line">        <tt class="py-keyword">elif</tt> <tt class="py-name">state</tt><tt class="py-op">==</tt><tt class="py-number">4</tt><tt class="py-op">:</tt> </tt>
<a name="L153"></a><tt class="py-lineno">153</tt>  <tt class="py-line">            <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-19" class="py-name"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPreqstatConfiguration" class="py-name" href="#" onclick="return doclink('link-19', 'MCPreqstatConfiguration', 'link-2');">MCPreqstatConfiguration</a></tt><tt class="py-op">(</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L154"></a><tt class="py-lineno">154</tt>  <tt class="py-line">        <tt class="py-keyword">else</tt><tt class="py-op">:</tt> </tt>
<a name="L155"></a><tt class="py-lineno">155</tt>  <tt class="py-line">            <tt class="py-keyword">print</tt> <tt class="py-string">"Invalid state entered; defaulting to Listen-Only"</tt> </tt>
<a name="L156"></a><tt class="py-lineno">156</tt>  <tt class="py-line">            <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-20" class="py-name"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPreqstatListenOnly" class="py-name" href="#" onclick="return doclink('link-20', 'MCPreqstatListenOnly', 'link-18');">MCPreqstatListenOnly</a></tt><tt class="py-op">(</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div><a name="GoodFETMCPCAN.MCPreqstatNormal"></a><div id="GoodFETMCPCAN.MCPreqstatNormal-def"><a name="L157"></a><tt class="py-lineno">157</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.MCPreqstatNormal-toggle" onclick="return toggle('GoodFETMCPCAN.MCPreqstatNormal');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPreqstatNormal">MCPreqstatNormal</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.MCPreqstatNormal-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.MCPreqstatNormal-expanded"><a name="L158"></a><tt class="py-lineno">158</tt>  <tt class="py-line">        <tt class="py-docstring">"""Set the CAN state."""</tt> </tt>
<a name="L159"></a><tt class="py-lineno">159</tt>  <tt class="py-line">        <tt class="py-name">state</tt><tt class="py-op">=</tt><tt class="py-number">0x0</tt><tt class="py-op">;</tt> </tt>
<a name="L160"></a><tt class="py-lineno">160</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-21" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.MCPbitmodify()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPbitmodify"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPbitmodify" class="py-name" href="#" onclick="return doclink('link-21', 'MCPbitmodify', 'link-21');">MCPbitmodify</a></tt><tt class="py-op">(</tt><tt class="py-number">0x0F</tt><tt class="py-op">,</tt><tt class="py-number">0xE0</tt><tt class="py-op">,</tt><tt class="py-op">(</tt><tt class="py-name">state</tt><tt class="py-op">&lt;&lt;</tt><tt class="py-number">5</tt><tt class="py-op">)</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div><a name="GoodFETMCPCAN.MCPreqstatSleep"></a><div id="GoodFETMCPCAN.MCPreqstatSleep-def"><a name="L161"></a><tt class="py-lineno">161</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.MCPreqstatSleep-toggle" onclick="return toggle('GoodFETMCPCAN.MCPreqstatSleep');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPreqstatSleep">MCPreqstatSleep</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.MCPreqstatSleep-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.MCPreqstatSleep-expanded"><a name="L162"></a><tt class="py-lineno">162</tt>  <tt class="py-line">        <tt class="py-docstring">"""Set the CAN state."""</tt> </tt>
<a name="L163"></a><tt class="py-lineno">163</tt>  <tt class="py-line">        <tt class="py-name">state</tt><tt class="py-op">=</tt><tt class="py-number">0x1</tt><tt class="py-op">;</tt> </tt>
<a name="L164"></a><tt class="py-lineno">164</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-22" class="py-name"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPbitmodify" class="py-name" href="#" onclick="return doclink('link-22', 'MCPbitmodify', 'link-21');">MCPbitmodify</a></tt><tt class="py-op">(</tt><tt class="py-number">0x0F</tt><tt class="py-op">,</tt><tt class="py-number">0xE0</tt><tt class="py-op">,</tt><tt class="py-op">(</tt><tt class="py-name">state</tt><tt class="py-op">&lt;&lt;</tt><tt class="py-number">5</tt><tt class="py-op">)</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div><a name="GoodFETMCPCAN.MCPreqstatLoopback"></a><div id="GoodFETMCPCAN.MCPreqstatLoopback-def"><a name="L165"></a><tt class="py-lineno">165</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.MCPreqstatLoopback-toggle" onclick="return toggle('GoodFETMCPCAN.MCPreqstatLoopback');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPreqstatLoopback">MCPreqstatLoopback</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.MCPreqstatLoopback-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.MCPreqstatLoopback-expanded"><a name="L166"></a><tt class="py-lineno">166</tt>  <tt class="py-line">        <tt class="py-docstring">"""Set the CAN state."""</tt> </tt>
<a name="L167"></a><tt class="py-lineno">167</tt>  <tt class="py-line">        <tt class="py-name">state</tt><tt class="py-op">=</tt><tt class="py-number">0x2</tt><tt class="py-op">;</tt> </tt>
<a name="L168"></a><tt class="py-lineno">168</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-23" class="py-name"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPbitmodify" class="py-name" href="#" onclick="return doclink('link-23', 'MCPbitmodify', 'link-21');">MCPbitmodify</a></tt><tt class="py-op">(</tt><tt class="py-number">0x0F</tt><tt class="py-op">,</tt><tt class="py-number">0xE0</tt><tt class="py-op">,</tt><tt class="py-op">(</tt><tt class="py-name">state</tt><tt class="py-op">&lt;&lt;</tt><tt class="py-number">5</tt><tt class="py-op">)</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div><a name="GoodFETMCPCAN.MCPreqstatListenOnly"></a><div id="GoodFETMCPCAN.MCPreqstatListenOnly-def"><a name="L169"></a><tt class="py-lineno">169</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.MCPreqstatListenOnly-toggle" onclick="return toggle('GoodFETMCPCAN.MCPreqstatListenOnly');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPreqstatListenOnly">MCPreqstatListenOnly</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.MCPreqstatListenOnly-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.MCPreqstatListenOnly-expanded"><a name="L170"></a><tt class="py-lineno">170</tt>  <tt class="py-line">        <tt class="py-docstring">"""Set the CAN state."""</tt> </tt>
<a name="L171"></a><tt class="py-lineno">171</tt>  <tt class="py-line">        <tt class="py-name">state</tt><tt class="py-op">=</tt><tt class="py-number">0x3</tt><tt class="py-op">;</tt> </tt>
<a name="L172"></a><tt class="py-lineno">172</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-24" class="py-name"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPbitmodify" class="py-name" href="#" onclick="return doclink('link-24', 'MCPbitmodify', 'link-21');">MCPbitmodify</a></tt><tt class="py-op">(</tt><tt class="py-number">0x0F</tt><tt class="py-op">,</tt><tt class="py-number">0xE0</tt><tt class="py-op">,</tt><tt class="py-op">(</tt><tt class="py-name">state</tt><tt class="py-op">&lt;&lt;</tt><tt class="py-number">5</tt><tt class="py-op">)</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div><a name="GoodFETMCPCAN.MCPreqstatConfiguration"></a><div id="GoodFETMCPCAN.MCPreqstatConfiguration-def"><a name="L173"></a><tt class="py-lineno">173</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.MCPreqstatConfiguration-toggle" onclick="return toggle('GoodFETMCPCAN.MCPreqstatConfiguration');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPreqstatConfiguration">MCPreqstatConfiguration</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.MCPreqstatConfiguration-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.MCPreqstatConfiguration-expanded"><a name="L174"></a><tt class="py-lineno">174</tt>  <tt class="py-line">        <tt class="py-docstring">"""Set the CAN state."""</tt> </tt>
<a name="L175"></a><tt class="py-lineno">175</tt>  <tt class="py-line">        <tt class="py-name">state</tt><tt class="py-op">=</tt><tt class="py-number">0x4</tt><tt class="py-op">;</tt> </tt>
<a name="L176"></a><tt class="py-lineno">176</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-25" class="py-name"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPbitmodify" class="py-name" href="#" onclick="return doclink('link-25', 'MCPbitmodify', 'link-21');">MCPbitmodify</a></tt><tt class="py-op">(</tt><tt class="py-number">0x0F</tt><tt class="py-op">,</tt><tt class="py-number">0xE0</tt><tt class="py-op">,</tt><tt class="py-op">(</tt><tt class="py-name">state</tt><tt class="py-op">&lt;&lt;</tt><tt class="py-number">5</tt><tt class="py-op">)</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div><a name="L177"></a><tt class="py-lineno">177</tt>  <tt class="py-line">     </tt>
<a name="L178"></a><tt class="py-lineno">178</tt>  <tt class="py-line">    <tt class="py-comment">####################     RX MANAGEMENT     #####################</tt> </tt>
<a name="L179"></a><tt class="py-lineno">179</tt>  <tt class="py-line">     </tt>
<a name="GoodFETMCPCAN.MCPrxstatus"></a><div id="GoodFETMCPCAN.MCPrxstatus-def"><a name="L180"></a><tt class="py-lineno">180</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.MCPrxstatus-toggle" onclick="return toggle('GoodFETMCPCAN.MCPrxstatus');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPrxstatus">MCPrxstatus</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.MCPrxstatus-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.MCPrxstatus-expanded"><a name="L181"></a><tt class="py-lineno">181</tt>  <tt class="py-line">        <tt class="py-docstring">"""Reads the RX Status by the SPI verb of the same name."""</tt> </tt>
<a name="L182"></a><tt class="py-lineno">182</tt>  <tt class="py-line">        <tt class="py-name">data</tt><tt class="py-op">=</tt><tt class="py-name">self</tt><tt class="py-op">.</tt><tt class="py-name">SPItrans</tt><tt class="py-op">(</tt><tt class="py-op">[</tt><tt class="py-number">0xB0</tt><tt class="py-op">,</tt><tt class="py-number">0x00</tt><tt class="py-op">]</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L183"></a><tt class="py-lineno">183</tt>  <tt class="py-line">        <tt class="py-keyword">return</tt> <tt class="py-name">ord</tt><tt class="py-op">(</tt><tt class="py-name">data</tt><tt class="py-op">[</tt><tt class="py-number">1</tt><tt class="py-op">]</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div><a name="L184"></a><tt class="py-lineno">184</tt>  <tt class="py-line"> </tt>
<a name="GoodFETMCPCAN.MCPreadstatus"></a><div id="GoodFETMCPCAN.MCPreadstatus-def"><a name="L185"></a><tt class="py-lineno">185</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.MCPreadstatus-toggle" onclick="return toggle('GoodFETMCPCAN.MCPreadstatus');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPreadstatus">MCPreadstatus</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.MCPreadstatus-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.MCPreadstatus-expanded"><a name="L186"></a><tt class="py-lineno">186</tt>  <tt class="py-line">        <tt class="py-docstring">"""Reads the Read Status by the SPI verb of the same name."""</tt> </tt>
<a name="L187"></a><tt class="py-lineno">187</tt>  <tt class="py-line">        <tt class="py-comment">#See page 69 of the datasheet for the flag names.</tt> </tt>
<a name="L188"></a><tt class="py-lineno">188</tt>  <tt class="py-line">        <tt class="py-name">data</tt><tt class="py-op">=</tt><tt class="py-name">self</tt><tt class="py-op">.</tt><tt class="py-name">SPItrans</tt><tt class="py-op">(</tt><tt class="py-op">[</tt><tt class="py-number">0xA0</tt><tt class="py-op">,</tt><tt class="py-number">0x00</tt><tt class="py-op">]</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L189"></a><tt class="py-lineno">189</tt>  <tt class="py-line">        <tt class="py-keyword">return</tt> <tt class="py-name">ord</tt><tt class="py-op">(</tt><tt class="py-name">data</tt><tt class="py-op">[</tt><tt class="py-number">1</tt><tt class="py-op">]</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div><a name="L190"></a><tt class="py-lineno">190</tt>  <tt class="py-line">             </tt>
<a name="GoodFETMCPCAN.readrxbuffer"></a><div id="GoodFETMCPCAN.readrxbuffer-def"><a name="L191"></a><tt class="py-lineno">191</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.readrxbuffer-toggle" onclick="return toggle('GoodFETMCPCAN.readrxbuffer');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#readrxbuffer">readrxbuffer</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">,</tt><tt class="py-param">packbuf</tt><tt class="py-op">=</tt><tt class="py-number">0</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.readrxbuffer-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.readrxbuffer-expanded"><a name="L192"></a><tt class="py-lineno">192</tt>  <tt class="py-line">        <tt class="py-docstring">"""Reads the RX buffer.  Might have old data."""</tt> </tt>
<a name="L193"></a><tt class="py-lineno">193</tt>  <tt class="py-line">        <tt class="py-name">data</tt><tt class="py-op">=</tt><tt class="py-name">self</tt><tt class="py-op">.</tt><tt class="py-name">SPItrans</tt><tt class="py-op">(</tt><tt class="py-op">[</tt><tt class="py-number">0x90</tt><tt class="py-op">|</tt><tt class="py-op">(</tt><tt class="py-name">packbuf</tt><tt class="py-op">&lt;&lt;</tt><tt class="py-number">2</tt><tt class="py-op">)</tt><tt class="py-op">,</tt> </tt>
<a name="L194"></a><tt class="py-lineno">194</tt>  <tt class="py-line">                            <tt class="py-number">0x00</tt><tt class="py-op">,</tt><tt class="py-number">0x00</tt><tt class="py-op">,</tt> <tt class="py-comment">#SID</tt> </tt>
<a name="L195"></a><tt class="py-lineno">195</tt>  <tt class="py-line">                            <tt class="py-number">0x00</tt><tt class="py-op">,</tt><tt class="py-number">0x00</tt><tt class="py-op">,</tt> <tt class="py-comment">#EID</tt> </tt>
<a name="L196"></a><tt class="py-lineno">196</tt>  <tt class="py-line">                            <tt class="py-number">0x00</tt><tt class="py-op">,</tt>      <tt class="py-comment">#DLC</tt> </tt>
<a name="L197"></a><tt class="py-lineno">197</tt>  <tt class="py-line">                            <tt class="py-number">0x00</tt><tt class="py-op">,</tt> <tt class="py-number">0x00</tt><tt class="py-op">,</tt> <tt class="py-number">0x00</tt><tt class="py-op">,</tt> <tt class="py-number">0x00</tt><tt class="py-op">,</tt> </tt>
<a name="L198"></a><tt class="py-lineno">198</tt>  <tt class="py-line">                            <tt class="py-number">0x00</tt><tt class="py-op">,</tt> <tt class="py-number">0x00</tt><tt class="py-op">,</tt> <tt class="py-number">0x00</tt><tt class="py-op">,</tt> <tt class="py-number">0x00</tt> </tt>
<a name="L199"></a><tt class="py-lineno">199</tt>  <tt class="py-line">                            <tt class="py-op">]</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L200"></a><tt class="py-lineno">200</tt>  <tt class="py-line">         </tt>
<a name="L201"></a><tt class="py-lineno">201</tt>  <tt class="py-line">        <tt class="py-keyword">return</tt> <tt class="py-name">data</tt><tt class="py-op">[</tt><tt class="py-number">1</tt><tt class="py-op">:</tt><tt class="py-name">len</tt><tt class="py-op">(</tt><tt class="py-name">data</tt><tt class="py-op">)</tt><tt class="py-op">]</tt><tt class="py-op">;</tt> </tt>
</div><a name="L202"></a><tt class="py-lineno">202</tt>  <tt class="py-line">     </tt>
<a name="GoodFETMCPCAN.fastrxpacket"></a><div id="GoodFETMCPCAN.fastrxpacket-def"><a name="L203"></a><tt class="py-lineno">203</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.fastrxpacket-toggle" onclick="return toggle('GoodFETMCPCAN.fastrxpacket');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#fastrxpacket">fastrxpacket</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.fastrxpacket-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.fastrxpacket-expanded"><a name="L204"></a><tt class="py-lineno">204</tt>  <tt class="py-line">        <tt class="py-keyword">return</tt> <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-26" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.readrxbuffer()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#readrxbuffer"><a title="GoodFETMCPCAN.GoodFETMCPCAN.readrxbuffer" class="py-name" href="#" onclick="return doclink('link-26', 'readrxbuffer', 'link-26');">readrxbuffer</a></tt><tt class="py-op">(</tt><tt class="py-number">0</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div><a name="L205"></a><tt class="py-lineno">205</tt>  <tt class="py-line">     </tt>
<a name="GoodFETMCPCAN.rxpacket"></a><div id="GoodFETMCPCAN.rxpacket-def"><a name="L206"></a><tt class="py-lineno">206</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.rxpacket-toggle" onclick="return toggle('GoodFETMCPCAN.rxpacket');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#rxpacket">rxpacket</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.rxpacket-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.rxpacket-expanded"><a name="L207"></a><tt class="py-lineno">207</tt>  <tt class="py-line">        <tt class="py-docstring">"""Reads the next incoming packet from either buffer.</tt> </tt>
<a name="L208"></a><tt class="py-lineno">208</tt>  <tt class="py-line"><tt class="py-docstring">            Returns None immediately if no packet is waiting."""</tt> </tt>
<a name="L209"></a><tt class="py-lineno">209</tt>  <tt class="py-line">        <tt class="py-name">status</tt><tt class="py-op">=</tt><tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-27" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.MCPrxstatus()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPrxstatus"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPrxstatus" class="py-name" href="#" onclick="return doclink('link-27', 'MCPrxstatus', 'link-27');">MCPrxstatus</a></tt><tt class="py-op">(</tt><tt class="py-op">)</tt><tt class="py-op">&amp;</tt><tt class="py-number">0xC0</tt><tt class="py-op">;</tt> </tt>
<a name="L210"></a><tt class="py-lineno">210</tt>  <tt class="py-line">        <tt class="py-keyword">if</tt> <tt class="py-name">status</tt><tt class="py-op">&amp;</tt><tt class="py-number">0x40</tt><tt class="py-op">:</tt> </tt>
<a name="L211"></a><tt class="py-lineno">211</tt>  <tt class="py-line">            <tt class="py-comment">#Buffer 0 has higher priority.</tt> </tt>
<a name="L212"></a><tt class="py-lineno">212</tt>  <tt class="py-line">            <tt class="py-keyword">return</tt> <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-28" class="py-name"><a title="GoodFETMCPCAN.GoodFETMCPCAN.readrxbuffer" class="py-name" href="#" onclick="return doclink('link-28', 'readrxbuffer', 'link-26');">readrxbuffer</a></tt><tt class="py-op">(</tt><tt class="py-number">0</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L213"></a><tt class="py-lineno">213</tt>  <tt class="py-line">        <tt class="py-keyword">elif</tt> <tt class="py-name">status</tt><tt class="py-op">&amp;</tt><tt class="py-number">0x80</tt><tt class="py-op">:</tt> </tt>
<a name="L214"></a><tt class="py-lineno">214</tt>  <tt class="py-line">            <tt class="py-comment">#Buffer 1 has lower priority.</tt> </tt>
<a name="L215"></a><tt class="py-lineno">215</tt>  <tt class="py-line">            <tt class="py-keyword">return</tt> <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-29" class="py-name"><a title="GoodFETMCPCAN.GoodFETMCPCAN.readrxbuffer" class="py-name" href="#" onclick="return doclink('link-29', 'readrxbuffer', 'link-26');">readrxbuffer</a></tt><tt class="py-op">(</tt><tt class="py-number">1</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L216"></a><tt class="py-lineno">216</tt>  <tt class="py-line">        <tt class="py-keyword">else</tt><tt class="py-op">:</tt> </tt>
<a name="L217"></a><tt class="py-lineno">217</tt>  <tt class="py-line">            <tt class="py-keyword">return</tt> <tt class="py-name">None</tt><tt class="py-op">;</tt> </tt>
</div><a name="L218"></a><tt class="py-lineno">218</tt>  <tt class="py-line"> </tt>
<a name="L219"></a><tt class="py-lineno">219</tt>  <tt class="py-line">    <tt class="py-comment">#################      TX MANAGEMENT    ##################</tt> </tt>
<a name="L220"></a><tt class="py-lineno">220</tt>  <tt class="py-line">             </tt>
<a name="GoodFETMCPCAN.MCPrts"></a><div id="GoodFETMCPCAN.MCPrts-def"><a name="L221"></a><tt class="py-lineno">221</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.MCPrts-toggle" onclick="return toggle('GoodFETMCPCAN.MCPrts');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPrts">MCPrts</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">,</tt><tt class="py-param">TXB0</tt><tt class="py-op">=</tt><tt class="py-name">False</tt><tt class="py-op">,</tt><tt class="py-param">TXB1</tt><tt class="py-op">=</tt><tt class="py-name">False</tt><tt class="py-op">,</tt><tt class="py-param">TXB2</tt><tt class="py-op">=</tt><tt class="py-name">False</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.MCPrts-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.MCPrts-expanded"><a name="L222"></a><tt class="py-lineno">222</tt>  <tt class="py-line">        <tt class="py-docstring">"""Requests to send one of the transmit buffers."""</tt> </tt>
<a name="L223"></a><tt class="py-lineno">223</tt>  <tt class="py-line">        <tt class="py-name">flags</tt><tt class="py-op">=</tt><tt class="py-number">0</tt><tt class="py-op">;</tt> </tt>
<a name="L224"></a><tt class="py-lineno">224</tt>  <tt class="py-line">        <tt class="py-keyword">if</tt> <tt class="py-name">TXB0</tt><tt class="py-op">:</tt> <tt class="py-name">flags</tt><tt class="py-op">=</tt><tt class="py-name">flags</tt><tt class="py-op">|</tt><tt class="py-number">1</tt><tt class="py-op">;</tt> </tt>
<a name="L225"></a><tt class="py-lineno">225</tt>  <tt class="py-line">        <tt class="py-keyword">if</tt> <tt class="py-name">TXB1</tt><tt class="py-op">:</tt> <tt class="py-name">flags</tt><tt class="py-op">=</tt><tt class="py-name">flags</tt><tt class="py-op">|</tt><tt class="py-number">2</tt><tt class="py-op">;</tt> </tt>
<a name="L226"></a><tt class="py-lineno">226</tt>  <tt class="py-line">        <tt class="py-keyword">if</tt> <tt class="py-name">TXB2</tt><tt class="py-op">:</tt> <tt class="py-name">flags</tt><tt class="py-op">=</tt><tt class="py-name">flags</tt><tt class="py-op">|</tt><tt class="py-number">4</tt><tt class="py-op">;</tt> </tt>
<a name="L227"></a><tt class="py-lineno">227</tt>  <tt class="py-line">         </tt>
<a name="L228"></a><tt class="py-lineno">228</tt>  <tt class="py-line">        <tt class="py-keyword">if</tt> <tt class="py-name">flags</tt><tt class="py-op">==</tt><tt class="py-number">0</tt><tt class="py-op">:</tt> </tt>
<a name="L229"></a><tt class="py-lineno">229</tt>  <tt class="py-line">            <tt class="py-keyword">print</tt> <tt class="py-string">"Warning: Requesting to send no buffer."</tt><tt class="py-op">;</tt> </tt>
<a name="L230"></a><tt class="py-lineno">230</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt class="py-name">SPItrans</tt><tt class="py-op">(</tt><tt class="py-op">[</tt><tt class="py-number">0x80</tt><tt class="py-op">|</tt><tt class="py-name">flags</tt><tt class="py-op">]</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div><a name="L231"></a><tt class="py-lineno">231</tt>  <tt class="py-line">     </tt>
<a name="GoodFETMCPCAN.writetxbuffer"></a><div id="GoodFETMCPCAN.writetxbuffer-def"><a name="L232"></a><tt class="py-lineno">232</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.writetxbuffer-toggle" onclick="return toggle('GoodFETMCPCAN.writetxbuffer');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#writetxbuffer">writetxbuffer</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">,</tt><tt class="py-param">packet</tt><tt class="py-op">,</tt><tt class="py-param">packbuf</tt><tt class="py-op">=</tt><tt class="py-number">0</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.writetxbuffer-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.writetxbuffer-expanded"><a name="L233"></a><tt class="py-lineno">233</tt>  <tt class="py-line">        <tt class="py-docstring">"""Writes the transmit buffer."""</tt> </tt>
<a name="L234"></a><tt class="py-lineno">234</tt>  <tt class="py-line">         </tt>
<a name="L235"></a><tt class="py-lineno">235</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt class="py-name">SPItrans</tt><tt class="py-op">(</tt><tt class="py-op">[</tt><tt class="py-number">0x40</tt><tt class="py-op">|</tt><tt class="py-op">(</tt><tt class="py-name">packbuf</tt><tt class="py-op">&lt;&lt;</tt><tt class="py-number">1</tt><tt class="py-op">)</tt><tt class="py-op">]</tt><tt class="py-op">+</tt><tt class="py-name">packet</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div><a name="L236"></a><tt class="py-lineno">236</tt>  <tt class="py-line"> </tt>
<a name="L237"></a><tt class="py-lineno">237</tt>  <tt class="py-line">    </tt>
<a name="GoodFETMCPCAN.txpacket"></a><div id="GoodFETMCPCAN.txpacket-def"><a name="L238"></a><tt class="py-lineno">238</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.txpacket-toggle" onclick="return toggle('GoodFETMCPCAN.txpacket');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#txpacket">txpacket</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">,</tt><tt class="py-param">packet</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.txpacket-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.txpacket-expanded"><a name="L239"></a><tt class="py-lineno">239</tt>  <tt class="py-line">        <tt class="py-docstring">"""Transmits a packet through one of the outbound buffers.</tt> </tt>
<a name="L240"></a><tt class="py-lineno">240</tt>  <tt class="py-line"><tt class="py-docstring">        As usual, the packet should begin with SIDH.</tt> </tt>
<a name="L241"></a><tt class="py-lineno">241</tt>  <tt class="py-line"><tt class="py-docstring">        For now, only TXB0 is supported."""</tt> </tt>
<a name="L242"></a><tt class="py-lineno">242</tt>  <tt class="py-line"> </tt>
<a name="L243"></a><tt class="py-lineno">243</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-30" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.writetxbuffer()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#writetxbuffer"><a title="GoodFETMCPCAN.GoodFETMCPCAN.writetxbuffer" class="py-name" href="#" onclick="return doclink('link-30', 'writetxbuffer', 'link-30');">writetxbuffer</a></tt><tt class="py-op">(</tt><tt class="py-name">packet</tt><tt class="py-op">,</tt><tt class="py-number">0</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L244"></a><tt class="py-lineno">244</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-31" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.MCPrts()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPrts"><a title="GoodFETMCPCAN.GoodFETMCPCAN.MCPrts" class="py-name" href="#" onclick="return doclink('link-31', 'MCPrts', 'link-31');">MCPrts</a></tt><tt class="py-op">(</tt><tt class="py-name">TXB0</tt><tt class="py-op">=</tt><tt class="py-name">True</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div><a name="L245"></a><tt class="py-lineno">245</tt>  <tt class="py-line"> </tt>
<a name="L246"></a><tt class="py-lineno">246</tt>  <tt class="py-line">                 </tt>
<a name="L247"></a><tt class="py-lineno">247</tt>  <tt class="py-line">    <tt class="py-comment">###############   UTILITY FUNCTIONS  #################</tt> </tt>
<a name="L248"></a><tt class="py-lineno">248</tt>  <tt class="py-line">      </tt>
<a name="GoodFETMCPCAN.simpleParse"></a><div id="GoodFETMCPCAN.simpleParse-def"><a name="L249"></a><tt class="py-lineno">249</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.simpleParse-toggle" onclick="return toggle('GoodFETMCPCAN.simpleParse');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#simpleParse">simpleParse</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">,</tt><tt class="py-param">packet</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.simpleParse-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.simpleParse-expanded"><a name="L250"></a><tt class="py-lineno">250</tt>  <tt class="py-line">        <tt class="py-docstring">""" </tt> </tt>
<a name="L251"></a><tt class="py-lineno">251</tt>  <tt class="py-line"><tt class="py-docstring">        This will print a simple parsing of the data with the standard Id and the extended id parsed.</tt> </tt>
<a name="L252"></a><tt class="py-lineno">252</tt>  <tt class="py-line"><tt class="py-docstring">        """</tt> </tt>
<a name="L253"></a><tt class="py-lineno">253</tt>  <tt class="py-line">        <tt class="py-name">dataPt</tt> <tt class="py-op">=</tt> <tt class="py-name">ord</tt><tt class="py-op">(</tt><tt class="py-name">packet</tt><tt class="py-op">[</tt><tt class="py-number">0</tt><tt class="py-op">]</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L254"></a><tt class="py-lineno">254</tt>  <tt class="py-line">        <tt class="py-name">dataPt2</tt> <tt class="py-op">=</tt> <tt class="py-name">ord</tt><tt class="py-op">(</tt><tt class="py-name">packet</tt><tt class="py-op">[</tt><tt class="py-number">1</tt><tt class="py-op">]</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L255"></a><tt class="py-lineno">255</tt>  <tt class="py-line">        <tt class="py-comment"># check if we have a standard frame, the msb of the second</tt> </tt>
<a name="L256"></a><tt class="py-lineno">256</tt>  <tt class="py-line">        <tt class="py-comment"># nibble will be 1. otherwise it is an extended rame</tt> </tt>
<a name="L257"></a><tt class="py-lineno">257</tt>  <tt class="py-line">        <tt class="py-name">stdCheck</tt> <tt class="py-op">=</tt> <tt class="py-name">dataPt2</tt> <tt class="py-op">&amp;</tt> <tt class="py-number">0x0f</tt> </tt>
<a name="L258"></a><tt class="py-lineno">258</tt>  <tt class="py-line">        <tt class="py-keyword">if</tt><tt class="py-op">(</tt> <tt class="py-name">stdCheck</tt> <tt class="py-op">==</tt> <tt class="py-number">16</tt> <tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
<a name="L259"></a><tt class="py-lineno">259</tt>  <tt class="py-line">            <tt class="py-comment">#arb id is first byte + 3 msb of the 2nd byte</tt> </tt>
<a name="L260"></a><tt class="py-lineno">260</tt>  <tt class="py-line">            <tt class="py-name">dataPt</tt> <tt class="py-op">=</tt> <tt class="py-name">dataPt</tt><tt class="py-op">&lt;&lt;</tt><tt class="py-number">3</tt> <tt class="py-op">|</tt> <tt class="py-name">dataPt2</tt><tt class="py-op">&gt;&gt;</tt><tt class="py-number">5</tt> </tt>
<a name="L261"></a><tt class="py-lineno">261</tt>  <tt class="py-line">            <tt class="py-keyword">print</tt> <tt class="py-string">"Standard Packet \n Arb ID: "</tt><tt class="py-op">+</tt><tt class="py-op">(</tt><tt class="py-string">"%d"</tt><tt class="py-op">%</tt><tt class="py-name">dataPt</tt><tt class="py-op">)</tt> </tt>
<a name="L262"></a><tt class="py-lineno">262</tt>  <tt class="py-line">        <tt class="py-keyword">else</tt><tt class="py-op">:</tt> </tt>
<a name="L263"></a><tt class="py-lineno">263</tt>  <tt class="py-line">            <tt class="py-comment">#arb id is first byte + 3 msb + 2 lsb of 2nd byte +</tt> </tt>
<a name="L264"></a><tt class="py-lineno">264</tt>  <tt class="py-line">            <tt class="py-comment"># 3rd byte + 4th byte</tt> </tt>
<a name="L265"></a><tt class="py-lineno">265</tt>  <tt class="py-line">            <tt class="py-name">dataPt</tt> <tt class="py-op">=</tt> <tt class="py-name">dataPt</tt><tt class="py-op">&lt;&lt;</tt><tt class="py-number">3</tt> <tt class="py-op">|</tt> <tt class="py-name">dataPt2</tt><tt class="py-op">&gt;&gt;</tt><tt class="py-number">5</tt> </tt>
<a name="L266"></a><tt class="py-lineno">266</tt>  <tt class="py-line">            <tt class="py-name">dataPt</tt> <tt class="py-op">=</tt> <tt class="py-name">dataPt</tt><tt class="py-op">&lt;&lt;</tt><tt class="py-number">2</tt> <tt class="py-op">|</tt> <tt class="py-op">(</tt><tt class="py-name">dataPt2</tt> <tt class="py-op">&amp;</tt> <tt class="py-number">0x03</tt><tt class="py-op">)</tt> </tt>
<a name="L267"></a><tt class="py-lineno">267</tt>  <tt class="py-line">            <tt class="py-name">dataPt</tt> <tt class="py-op">=</tt> <tt class="py-name">dataPt</tt><tt class="py-op">&lt;&lt;</tt><tt class="py-number">8</tt> <tt class="py-op">|</tt> <tt class="py-name">ord</tt><tt class="py-op">(</tt><tt class="py-name">packet</tt><tt class="py-op">[</tt><tt class="py-number">2</tt><tt class="py-op">]</tt><tt class="py-op">)</tt> </tt>
<a name="L268"></a><tt class="py-lineno">268</tt>  <tt class="py-line">            <tt class="py-name">dataPt</tt> <tt class="py-op">=</tt> <tt class="py-name">dataPt</tt><tt class="py-op">&lt;&lt;</tt><tt class="py-number">8</tt> <tt class="py-op">|</tt> <tt class="py-name">ord</tt><tt class="py-op">(</tt><tt class="py-name">packet</tt><tt class="py-op">[</tt><tt class="py-number">3</tt><tt class="py-op">]</tt><tt class="py-op">)</tt> </tt>
<a name="L269"></a><tt class="py-lineno">269</tt>  <tt class="py-line">            <tt class="py-keyword">print</tt> <tt class="py-string">"Extended Data Frame \n Arb ID: "</tt><tt class="py-op">+</tt><tt class="py-op">(</tt><tt class="py-string">"%d"</tt><tt class="py-op">%</tt><tt class="py-name">dataPt</tt><tt class="py-op">)</tt> </tt>
<a name="L270"></a><tt class="py-lineno">270</tt>  <tt class="py-line">         </tt>
<a name="L271"></a><tt class="py-lineno">271</tt>  <tt class="py-line">        <tt class="py-comment">#find the dataLength</tt> </tt>
<a name="L272"></a><tt class="py-lineno">272</tt>  <tt class="py-line">        <tt class="py-name">dataPt5</tt> <tt class="py-op">=</tt> <tt class="py-name">packet</tt><tt class="py-op">[</tt><tt class="py-number">4</tt><tt class="py-op">]</tt> </tt>
<a name="L273"></a><tt class="py-lineno">273</tt>  <tt class="py-line">        <tt class="py-name">dataLength</tt> <tt class="py-op">=</tt> <tt class="py-name">dataPt5</tt> <tt class="py-op">&amp;</tt> <tt class="py-number">0x0e</tt> </tt>
<a name="L274"></a><tt class="py-lineno">274</tt>  <tt class="py-line">        <tt class="py-comment">#print "Data Length: "+("%d"%dataLength)</tt> </tt>
<a name="L275"></a><tt class="py-lineno">275</tt>  <tt class="py-line">        <tt class="py-comment"># Print the data packet</tt> </tt>
<a name="L276"></a><tt class="py-lineno">276</tt>  <tt class="py-line">        <tt class="py-comment">#print "Data:"</tt> </tt>
<a name="L277"></a><tt class="py-lineno">277</tt>  <tt class="py-line">        <tt class="py-comment"># Temporary, until correct packets are read</tt> </tt>
<a name="L278"></a><tt class="py-lineno">278</tt>  <tt class="py-line">        <tt class="py-keyword">if</tt><tt class="py-op">(</tt> <tt class="py-name">dataLength</tt> <tt class="py-op">&gt;</tt> <tt class="py-number">8</tt> <tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
<a name="L279"></a><tt class="py-lineno">279</tt>  <tt class="py-line">            <tt class="py-name">dataLength</tt> <tt class="py-op">=</tt> <tt class="py-number">8</tt> </tt>
<a name="L280"></a><tt class="py-lineno">280</tt>  <tt class="py-line">        <tt class="py-name">toprint</tt> <tt class="py-op">=</tt> <tt class="py-name">self</tt><tt class="py-op">.</tt><tt class="py-name">pcket2str</tt><tt class="py-op">(</tt><tt class="py-name">packet</tt><tt class="py-op">[</tt><tt class="py-number">5</tt><tt class="py-op">:</tt><tt class="py-number">12</tt><tt class="py-op">]</tt><tt class="py-op">)</tt> </tt>
<a name="L281"></a><tt class="py-lineno">281</tt>  <tt class="py-line">        <tt class="py-keyword">print</tt> <tt class="py-name">toprint</tt> </tt>
</div><a name="L282"></a><tt class="py-lineno">282</tt>  <tt class="py-line">        <tt class="py-comment"># For reading correct packets</tt> </tt>
<a name="L283"></a><tt class="py-lineno">283</tt>  <tt class="py-line">       <tt class="py-comment"># if (dataLength &gt; 8 ):</tt> </tt>
<a name="L284"></a><tt class="py-lineno">284</tt>  <tt class="py-line">        <tt class="py-comment">#    print "Acceptable Length Exceeded"</tt> </tt>
<a name="L285"></a><tt class="py-lineno">285</tt>  <tt class="py-line">            <tt class="py-comment"># Data length value should never exceed 8</tt> </tt>
<a name="L286"></a><tt class="py-lineno">286</tt>  <tt class="py-line">       <tt class="py-comment"># else:</tt> </tt>
<a name="L287"></a><tt class="py-lineno">287</tt>  <tt class="py-line">       <tt class="py-comment"># toprint =  self.pcket2str(packet[5:(5+dataLength)])</tt> </tt>
<a name="L288"></a><tt class="py-lineno">288</tt>  <tt class="py-line">       <tt class="py-comment"># print toprint</tt> </tt>
<a name="L289"></a><tt class="py-lineno">289</tt>  <tt class="py-line"> </tt>
<a name="L290"></a><tt class="py-lineno">290</tt>  <tt class="py-line">             </tt>
<a name="GoodFETMCPCAN.packet2str"></a><div id="GoodFETMCPCAN.packet2str-def"><a name="L291"></a><tt class="py-lineno">291</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.packet2str-toggle" onclick="return toggle('GoodFETMCPCAN.packet2str');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#packet2str">packet2str</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">,</tt><tt class="py-param">packet</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.packet2str-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.packet2str-expanded"><a name="L292"></a><tt class="py-lineno">292</tt>  <tt class="py-line">        <tt class="py-docstring">"""Converts a packet from the internal format to a string."""</tt> </tt>
<a name="L293"></a><tt class="py-lineno">293</tt>  <tt class="py-line">        <tt class="py-name">toprint</tt><tt class="py-op">=</tt><tt class="py-string">""</tt><tt class="py-op">;</tt> </tt>
<a name="L294"></a><tt class="py-lineno">294</tt>  <tt class="py-line">        <tt class="py-keyword">for</tt> <tt class="py-name">bar</tt> <tt class="py-keyword">in</tt> <tt class="py-name">packet</tt><tt class="py-op">:</tt> </tt>
<a name="L295"></a><tt class="py-lineno">295</tt>  <tt class="py-line">            <tt class="py-name">toprint</tt><tt class="py-op">=</tt><tt class="py-name">toprint</tt><tt class="py-op">+</tt><tt class="py-op">(</tt><tt class="py-string">"%02x "</tt><tt class="py-op">%</tt><tt class="py-name">ord</tt><tt class="py-op">(</tt><tt class="py-name">bar</tt><tt class="py-op">)</tt><tt class="py-op">)</tt> </tt>
<a name="L296"></a><tt class="py-lineno">296</tt>  <tt class="py-line">        <tt class="py-keyword">return</tt> <tt class="py-name">toprint</tt><tt class="py-op">;</tt> </tt>
</div><a name="L297"></a><tt class="py-lineno">297</tt>  <tt class="py-line">     </tt>
<a name="L298"></a><tt class="py-lineno">298</tt>  <tt class="py-line">     </tt>
<a name="L299"></a><tt class="py-lineno">299</tt>  <tt class="py-line">     </tt>
<a name="GoodFETMCPCAN.packet2parsed"></a><div id="GoodFETMCPCAN.packet2parsed-def"><a name="L300"></a><tt class="py-lineno">300</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.packet2parsed-toggle" onclick="return toggle('GoodFETMCPCAN.packet2parsed');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#packet2parsed">packet2parsed</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">,</tt><tt class="py-param">data</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.packet2parsed-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.packet2parsed-expanded"><a name="L301"></a><tt class="py-lineno">301</tt>  <tt class="py-line">        <tt class="py-docstring">"""</tt> </tt>
<a name="L302"></a><tt class="py-lineno">302</tt>  <tt class="py-line"><tt class="py-docstring">        This method will parse the packet that was received via L{rxpacket}.</tt> </tt>
<a name="L303"></a><tt class="py-lineno">303</tt>  <tt class="py-line"><tt class="py-docstring">        </tt> </tt>
<a name="L304"></a><tt class="py-lineno">304</tt>  <tt class="py-line"><tt class="py-docstring">        @type data: List</tt> </tt>
<a name="L305"></a><tt class="py-lineno">305</tt>  <tt class="py-line"><tt class="py-docstring">        @param data: data packet read off of the MCP2515 from the CAN bus. format will be</tt> </tt>
<a name="L306"></a><tt class="py-lineno">306</tt>  <tt class="py-line"><tt class="py-docstring">                     14 bytes where each element is a character whose unicode integer value corresponds</tt> </tt>
<a name="L307"></a><tt class="py-lineno">307</tt>  <tt class="py-line"><tt class="py-docstring">                     to the hex value of the byte (use the ord() method).</tt> </tt>
<a name="L308"></a><tt class="py-lineno">308</tt>  <tt class="py-line"><tt class="py-docstring">        </tt> </tt>
<a name="L309"></a><tt class="py-lineno">309</tt>  <tt class="py-line"><tt class="py-docstring">        @rtype: Dictionary</tt> </tt>
<a name="L310"></a><tt class="py-lineno">310</tt>  <tt class="py-line"><tt class="py-docstring">        @return: Dictionary of the packet parsed into various components. The key values will be as follows</tt> </tt>
<a name="L311"></a><tt class="py-lineno">311</tt>  <tt class="py-line"><tt class="py-docstring">                     </tt> </tt>
<a name="L312"></a><tt class="py-lineno">312</tt>  <tt class="py-line"><tt class="py-docstring">                     1. ide : 1 if the message is an extended frame. 0 otherwise</tt> </tt>
<a name="L313"></a><tt class="py-lineno">313</tt>  <tt class="py-line"><tt class="py-docstring">                     2. eID : extended ID. Not included if not an extended frame</tt> </tt>
<a name="L314"></a><tt class="py-lineno">314</tt>  <tt class="py-line"><tt class="py-docstring">                     3. rtr : 1 if the message is a remote transmission request (RTR)</tt> </tt>
<a name="L315"></a><tt class="py-lineno">315</tt>  <tt class="py-line"><tt class="py-docstring">                     4. sID : Standard ID. </tt> </tt>
<a name="L316"></a><tt class="py-lineno">316</tt>  <tt class="py-line"><tt class="py-docstring">                     5. length: packet length (between 0 and 8)</tt> </tt>
<a name="L317"></a><tt class="py-lineno">317</tt>  <tt class="py-line"><tt class="py-docstring">                     6. db0 : Data byte 0 (not included if RTR message)</tt> </tt>
<a name="L318"></a><tt class="py-lineno">318</tt>  <tt class="py-line"><tt class="py-docstring">                         </tt> </tt>
<a name="L319"></a><tt class="py-lineno">319</tt>  <tt class="py-line"><tt class="py-docstring">                         ---</tt> </tt>
<a name="L320"></a><tt class="py-lineno">320</tt>  <tt class="py-line"><tt class="py-docstring">                     7. db7 : Data byte 7 (not included if RTR message)</tt> </tt>
<a name="L321"></a><tt class="py-lineno">321</tt>  <tt class="py-line"><tt class="py-docstring">        """</tt> </tt>
<a name="L322"></a><tt class="py-lineno">322</tt>  <tt class="py-line">        <tt class="py-name">dp1</tt> <tt class="py-op">=</tt> <tt class="py-name">ord</tt><tt class="py-op">(</tt><tt class="py-name">data</tt><tt class="py-op">[</tt><tt class="py-number">0</tt><tt class="py-op">]</tt><tt class="py-op">)</tt> </tt>
<a name="L323"></a><tt class="py-lineno">323</tt>  <tt class="py-line">        <tt class="py-name">dp2</tt> <tt class="py-op">=</tt> <tt class="py-name">ord</tt><tt class="py-op">(</tt><tt class="py-name">data</tt><tt class="py-op">[</tt><tt class="py-number">1</tt><tt class="py-op">]</tt><tt class="py-op">)</tt> </tt>
<a name="L324"></a><tt class="py-lineno">324</tt>  <tt class="py-line">        <tt class="py-name">dp5</tt> <tt class="py-op">=</tt> <tt class="py-name">ord</tt><tt class="py-op">(</tt><tt class="py-name">data</tt><tt class="py-op">[</tt><tt class="py-number">4</tt><tt class="py-op">]</tt><tt class="py-op">)</tt> </tt>
<a name="L325"></a><tt class="py-lineno">325</tt>  <tt class="py-line">         </tt>
<a name="L326"></a><tt class="py-lineno">326</tt>  <tt class="py-line">        <tt class="py-name">packet</tt> <tt class="py-op">=</tt> <tt class="py-op">{</tt><tt class="py-op">}</tt> </tt>
<a name="L327"></a><tt class="py-lineno">327</tt>  <tt class="py-line">        <tt class="py-comment">#get the ide bit. allows us to check to see if we have an extended</tt> </tt>
<a name="L328"></a><tt class="py-lineno">328</tt>  <tt class="py-line">        <tt class="py-comment">#frame</tt> </tt>
<a name="L329"></a><tt class="py-lineno">329</tt>  <tt class="py-line">        <tt class="py-name">packet</tt><tt class="py-op">[</tt><tt class="py-string">'ide'</tt><tt class="py-op">]</tt> <tt class="py-op">=</tt> <tt class="py-op">(</tt><tt class="py-name">dp2</tt> <tt class="py-op">&amp;</tt> <tt class="py-number">0x0f</tt><tt class="py-op">)</tt><tt class="py-op">&gt;&gt;</tt><tt class="py-number">3</tt> </tt>
<a name="L330"></a><tt class="py-lineno">330</tt>  <tt class="py-line">        <tt class="py-comment">#we have an extended frame</tt> </tt>
<a name="L331"></a><tt class="py-lineno">331</tt>  <tt class="py-line">        <tt class="py-keyword">if</tt><tt class="py-op">(</tt> <tt class="py-name">packet</tt><tt class="py-op">[</tt><tt class="py-string">'ide'</tt><tt class="py-op">]</tt> <tt class="py-op">!=</tt> <tt class="py-number">0</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
<a name="L332"></a><tt class="py-lineno">332</tt>  <tt class="py-line">            <tt class="py-comment">#get lower nibble, last 2 bits</tt> </tt>
<a name="L333"></a><tt class="py-lineno">333</tt>  <tt class="py-line">            <tt class="py-name">eId</tt> <tt class="py-op">=</tt> <tt class="py-name">dp2</tt> <tt class="py-op">&amp;</tt> <tt class="py-number">0x03</tt> </tt>
<a name="L334"></a><tt class="py-lineno">334</tt>  <tt class="py-line">            <tt class="py-name">eId</tt> <tt class="py-op">=</tt> <tt class="py-name">eId</tt><tt class="py-op">&lt;&lt;</tt><tt class="py-number">8</tt> <tt class="py-op">|</tt> <tt class="py-name">ord</tt><tt class="py-op">(</tt><tt class="py-name">data</tt><tt class="py-op">[</tt><tt class="py-number">2</tt><tt class="py-op">]</tt><tt class="py-op">)</tt> </tt>
<a name="L335"></a><tt class="py-lineno">335</tt>  <tt class="py-line">            <tt class="py-name">eId</tt> <tt class="py-op">=</tt> <tt class="py-name">eId</tt><tt class="py-op">&lt;&lt;</tt><tt class="py-number">8</tt> <tt class="py-op">|</tt> <tt class="py-name">ord</tt><tt class="py-op">(</tt><tt class="py-name">data</tt><tt class="py-op">[</tt><tt class="py-number">3</tt><tt class="py-op">]</tt><tt class="py-op">)</tt> </tt>
<a name="L336"></a><tt class="py-lineno">336</tt>  <tt class="py-line">            <tt class="py-name">rtr</tt> <tt class="py-op">=</tt> <tt class="py-name">dp5</tt><tt class="py-op">&gt;&gt;</tt><tt class="py-number">6</tt> <tt class="py-op">&amp;</tt> <tt class="py-number">0x01</tt> </tt>
<a name="L337"></a><tt class="py-lineno">337</tt>  <tt class="py-line">            <tt class="py-name">packet</tt><tt class="py-op">[</tt><tt class="py-string">'eID'</tt><tt class="py-op">]</tt> <tt class="py-op">=</tt> <tt class="py-string">" eID: %06d"</tt> <tt class="py-op">%</tt><tt class="py-op">(</tt><tt class="py-name">eId</tt><tt class="py-op">)</tt> </tt>
<a name="L338"></a><tt class="py-lineno">338</tt>  <tt class="py-line">            <tt class="py-name">packet</tt><tt class="py-op">[</tt><tt class="py-string">'rtr'</tt><tt class="py-op">]</tt> <tt class="py-op">=</tt> <tt class="py-string">" rtr: %d"</tt> <tt class="py-op">%</tt> <tt class="py-op">(</tt><tt class="py-name">rtr</tt><tt class="py-op">)</tt> </tt>
<a name="L339"></a><tt class="py-lineno">339</tt>  <tt class="py-line">     </tt>
<a name="L340"></a><tt class="py-lineno">340</tt>  <tt class="py-line">        <tt class="py-keyword">else</tt><tt class="py-op">:</tt> </tt>
<a name="L341"></a><tt class="py-lineno">341</tt>  <tt class="py-line">            <tt class="py-name">packet</tt><tt class="py-op">[</tt><tt class="py-string">'rtr'</tt><tt class="py-op">]</tt> <tt class="py-op">=</tt> <tt class="py-name">dp2</tt><tt class="py-op">&gt;&gt;</tt><tt class="py-number">4</tt> <tt class="py-op">&amp;</tt> <tt class="py-number">0x01</tt> </tt>
<a name="L342"></a><tt class="py-lineno">342</tt>  <tt class="py-line">             </tt>
<a name="L343"></a><tt class="py-lineno">343</tt>  <tt class="py-line">         </tt>
<a name="L344"></a><tt class="py-lineno">344</tt>  <tt class="py-line">        <tt class="py-comment"># Create the standard ID. from the message</tt> </tt>
<a name="L345"></a><tt class="py-lineno">345</tt>  <tt class="py-line">        <tt class="py-name">packet</tt><tt class="py-op">[</tt><tt class="py-string">'sID'</tt><tt class="py-op">]</tt> <tt class="py-op">=</tt> <tt class="py-name">dp1</tt><tt class="py-op">&lt;&lt;</tt><tt class="py-number">3</tt> <tt class="py-op">|</tt> <tt class="py-name">dp2</tt><tt class="py-op">&gt;&gt;</tt><tt class="py-number">5</tt> </tt>
<a name="L346"></a><tt class="py-lineno">346</tt>  <tt class="py-line">        <tt class="py-name">packet</tt><tt class="py-op">[</tt><tt class="py-string">'length'</tt><tt class="py-op">]</tt> <tt class="py-op">=</tt> <tt class="py-name">dp5</tt> <tt class="py-op">&amp;</tt> <tt class="py-number">0x0f</tt> </tt>
<a name="L347"></a><tt class="py-lineno">347</tt>  <tt class="py-line">         </tt>
<a name="L348"></a><tt class="py-lineno">348</tt>  <tt class="py-line">        <tt class="py-comment">#generate the data section</tt> </tt>
<a name="L349"></a><tt class="py-lineno">349</tt>  <tt class="py-line">        <tt class="py-keyword">for</tt> <tt class="py-name">i</tt> <tt class="py-keyword">in</tt> <tt class="py-name">range</tt><tt class="py-op">(</tt><tt class="py-number">0</tt><tt class="py-op">,</tt><tt class="py-name">packet</tt><tt class="py-op">[</tt><tt class="py-string">'length'</tt><tt class="py-op">]</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
<a name="L350"></a><tt class="py-lineno">350</tt>  <tt class="py-line">            <tt class="py-name">idx</tt> <tt class="py-op">=</tt> <tt class="py-number">5</tt> <tt class="py-op">+</tt> <tt class="py-name">i</tt> </tt>
<a name="L351"></a><tt class="py-lineno">351</tt>  <tt class="py-line">            <tt class="py-name">dbidx</tt> <tt class="py-op">=</tt> <tt class="py-string">'db%d'</tt><tt class="py-op">%</tt><tt class="py-name">i</tt> </tt>
<a name="L352"></a><tt class="py-lineno">352</tt>  <tt class="py-line">            <tt class="py-name">packet</tt><tt class="py-op">[</tt><tt class="py-name">dbidx</tt><tt class="py-op">]</tt> <tt class="py-op">=</tt> <tt class="py-name">ord</tt><tt class="py-op">(</tt><tt class="py-name">data</tt><tt class="py-op">[</tt><tt class="py-name">idx</tt><tt class="py-op">]</tt><tt class="py-op">)</tt> </tt>
<a name="L353"></a><tt class="py-lineno">353</tt>  <tt class="py-line">        <tt class="py-keyword">return</tt> <tt class="py-name">packet</tt> </tt>
</div><a name="L354"></a><tt class="py-lineno">354</tt>  <tt class="py-line">     </tt>
<a name="GoodFETMCPCAN.packet2parsedstr"></a><div id="GoodFETMCPCAN.packet2parsedstr-def"><a name="L355"></a><tt class="py-lineno">355</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.packet2parsedstr-toggle" onclick="return toggle('GoodFETMCPCAN.packet2parsedstr');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#packet2parsedstr">packet2parsedstr</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">,</tt><tt class="py-param">data</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.packet2parsedstr-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.packet2parsedstr-expanded"><a name="L356"></a><tt class="py-lineno">356</tt>  <tt class="py-line">        <tt class="py-docstring">"""</tt> </tt>
<a name="L357"></a><tt class="py-lineno">357</tt>  <tt class="py-line"><tt class="py-docstring">        This will return a string that is the parsed CAN message. The bytes will be parsed</tt> </tt>
<a name="L358"></a><tt class="py-lineno">358</tt>  <tt class="py-line"><tt class="py-docstring">        for the standard ID, extended ID (if one is present), rtr, length and databytes (if present).</tt> </tt>
<a name="L359"></a><tt class="py-lineno">359</tt>  <tt class="py-line"><tt class="py-docstring">        The message will be placed into a string as decimal integers not hex values. This method </tt> </tt>
<a name="L360"></a><tt class="py-lineno">360</tt>  <tt class="py-line"><tt class="py-docstring">        calls L{packet2parsed} to do the packet parsing.</tt> </tt>
<a name="L361"></a><tt class="py-lineno">361</tt>  <tt class="py-line"><tt class="py-docstring">        </tt> </tt>
<a name="L362"></a><tt class="py-lineno">362</tt>  <tt class="py-line"><tt class="py-docstring">        @type data: List</tt> </tt>
<a name="L363"></a><tt class="py-lineno">363</tt>  <tt class="py-line"><tt class="py-docstring">        @param data: Data packet as returned by the L{rxpacket}</tt> </tt>
<a name="L364"></a><tt class="py-lineno">364</tt>  <tt class="py-line"><tt class="py-docstring">        @rtype: String</tt> </tt>
<a name="L365"></a><tt class="py-lineno">365</tt>  <tt class="py-line"><tt class="py-docstring">        @return: String that shows the data message in decimal format, parsed.</tt> </tt>
<a name="L366"></a><tt class="py-lineno">366</tt>  <tt class="py-line"><tt class="py-docstring">        """</tt> </tt>
<a name="L367"></a><tt class="py-lineno">367</tt>  <tt class="py-line">        <tt class="py-name">packet</tt> <tt class="py-op">=</tt> <tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-32" class="py-name" targets="Method GoodFETMCPCAN.GoodFETMCPCAN.packet2parsed()=GoodFETMCPCAN.GoodFETMCPCAN-class.html#packet2parsed"><a title="GoodFETMCPCAN.GoodFETMCPCAN.packet2parsed" class="py-name" href="#" onclick="return doclink('link-32', 'packet2parsed', 'link-32');">packet2parsed</a></tt><tt class="py-op">(</tt><tt class="py-name">data</tt><tt class="py-op">)</tt> </tt>
<a name="L368"></a><tt class="py-lineno">368</tt>  <tt class="py-line">        <tt class="py-name">msg</tt> <tt class="py-op">=</tt> <tt class="py-string">"sID: %04d"</tt> <tt class="py-op">%</tt><tt class="py-name">packet</tt><tt class="py-op">[</tt><tt class="py-string">'sId'</tt><tt class="py-op">]</tt> </tt>
<a name="L369"></a><tt class="py-lineno">369</tt>  <tt class="py-line">        <tt class="py-keyword">if</tt><tt class="py-op">(</tt> <tt class="py-name">packetParsed</tt><tt class="py-op">.</tt><tt class="py-name">get</tt><tt class="py-op">(</tt><tt class="py-string">'eID'</tt><tt class="py-op">)</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
<a name="L370"></a><tt class="py-lineno">370</tt>  <tt class="py-line">            <tt class="py-name">msg</tt> <tt class="py-op">+=</tt> <tt class="py-string">" eID: %d"</tt> <tt class="py-op">%</tt><tt class="py-name">packetParsed</tt><tt class="py-op">.</tt><tt class="py-name">get</tt><tt class="py-op">(</tt><tt class="py-string">'eID'</tt><tt class="py-op">)</tt> </tt>
<a name="L371"></a><tt class="py-lineno">371</tt>  <tt class="py-line">        <tt class="py-name">msg</tt> <tt class="py-op">+=</tt> <tt class="py-string">" rtr: %d"</tt><tt class="py-op">%</tt><tt class="py-name">packetParsed</tt><tt class="py-op">[</tt><tt class="py-string">'rtr'</tt><tt class="py-op">]</tt> </tt>
<a name="L372"></a><tt class="py-lineno">372</tt>  <tt class="py-line">        <tt class="py-name">length</tt> <tt class="py-op">=</tt> <tt class="py-name">packetParsed</tt><tt class="py-op">[</tt><tt class="py-string">'length'</tt><tt class="py-op">]</tt> </tt>
<a name="L373"></a><tt class="py-lineno">373</tt>  <tt class="py-line">        <tt class="py-name">msg</tt> <tt class="py-op">+=</tt> <tt class="py-string">" length: %d"</tt><tt class="py-op">%</tt><tt class="py-name">length</tt> </tt>
<a name="L374"></a><tt class="py-lineno">374</tt>  <tt class="py-line">        <tt class="py-name">msg</tt> <tt class="py-op">+=</tt> <tt class="py-string">" data:"</tt> </tt>
<a name="L375"></a><tt class="py-lineno">375</tt>  <tt class="py-line">        <tt class="py-keyword">for</tt> <tt class="py-name">i</tt> <tt class="py-keyword">in</tt> <tt class="py-name">range</tt><tt class="py-op">(</tt><tt class="py-number">0</tt><tt class="py-op">,</tt><tt class="py-name">length</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
<a name="L376"></a><tt class="py-lineno">376</tt>  <tt class="py-line">            <tt class="py-name">dbidx</tt> <tt class="py-op">=</tt> <tt class="py-string">'db%d'</tt><tt class="py-op">%</tt><tt class="py-name">i</tt> </tt>
<a name="L377"></a><tt class="py-lineno">377</tt>  <tt class="py-line">            <tt class="py-name">msg</tt> <tt class="py-op">+=</tt><tt class="py-string">" %03d"</tt><tt class="py-op">%</tt> <tt class="py-name">ord</tt><tt class="py-op">(</tt><tt class="py-name">packetParsed</tt><tt class="py-op">[</tt><tt class="py-name">dbidx</tt><tt class="py-op">]</tt><tt class="py-op">)</tt>  <tt class="py-comment"># could change this to HEX</tt> </tt>
<a name="L378"></a><tt class="py-lineno">378</tt>  <tt class="py-line">        <tt class="py-comment">#msg = self.client.packet2parsedstr(packet)</tt> </tt>
<a name="L379"></a><tt class="py-lineno">379</tt>  <tt class="py-line">        <tt class="py-keyword">return</tt> <tt class="py-name">msg</tt> </tt>
</div><a name="L380"></a><tt class="py-lineno">380</tt>  <tt class="py-line">         </tt>
<a name="L381"></a><tt class="py-lineno">381</tt>  <tt class="py-line">         </tt>
<a name="GoodFETMCPCAN.peek8"></a><div id="GoodFETMCPCAN.peek8-def"><a name="L382"></a><tt class="py-lineno">382</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.peek8-toggle" onclick="return toggle('GoodFETMCPCAN.peek8');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#peek8">peek8</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">,</tt><tt class="py-param">adr</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.peek8-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.peek8-expanded"><a name="L383"></a><tt class="py-lineno">383</tt>  <tt class="py-line">        <tt class="py-docstring">"""Read a byte from the given address.  Untested."""</tt> </tt>
<a name="L384"></a><tt class="py-lineno">384</tt>  <tt class="py-line">        <tt class="py-name">data</tt><tt class="py-op">=</tt><tt class="py-name">self</tt><tt class="py-op">.</tt><tt class="py-name">SPItrans</tt><tt class="py-op">(</tt><tt class="py-op">[</tt><tt class="py-number">0x03</tt><tt class="py-op">,</tt><tt class="py-name">adr</tt><tt class="py-op">&amp;</tt><tt class="py-number">0xFF</tt><tt class="py-op">,</tt><tt class="py-number">00</tt><tt class="py-op">]</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L385"></a><tt class="py-lineno">385</tt>  <tt class="py-line">        <tt class="py-keyword">return</tt> <tt class="py-name">ord</tt><tt class="py-op">(</tt><tt class="py-name">data</tt><tt class="py-op">[</tt><tt class="py-number">2</tt><tt class="py-op">]</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div><a name="GoodFETMCPCAN.poke8"></a><div id="GoodFETMCPCAN.poke8-def"><a name="L386"></a><tt class="py-lineno">386</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.poke8-toggle" onclick="return toggle('GoodFETMCPCAN.poke8');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#poke8">poke8</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">,</tt><tt class="py-param">adr</tt><tt class="py-op">,</tt><tt class="py-param">val</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.poke8-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.poke8-expanded"><a name="L387"></a><tt class="py-lineno">387</tt>  <tt class="py-line">        <tt class="py-docstring">"""Poke a value into RAM.  Untested"""</tt> </tt>
<a name="L388"></a><tt class="py-lineno">388</tt>  <tt class="py-line">        <tt class="py-name">self</tt><tt class="py-op">.</tt><tt class="py-name">SPItrans</tt><tt class="py-op">(</tt><tt class="py-op">[</tt><tt class="py-number">0x02</tt><tt class="py-op">,</tt><tt class="py-name">adr</tt><tt class="py-op">&amp;</tt><tt class="py-number">0xFF</tt><tt class="py-op">,</tt><tt class="py-name">val</tt><tt class="py-op">&amp;</tt><tt class="py-number">0xFF</tt><tt class="py-op">]</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L389"></a><tt class="py-lineno">389</tt>  <tt class="py-line">        <tt class="py-name">newval</tt><tt class="py-op">=</tt><tt class="py-name">self</tt><tt class="py-op">.</tt><tt id="link-33" class="py-name"><a title="GoodFETMCPCAN.GoodFETMCPCAN.peek8" class="py-name" href="#" onclick="return doclink('link-33', 'peek8', 'link-11');">peek8</a></tt><tt class="py-op">(</tt><tt class="py-name">adr</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L390"></a><tt class="py-lineno">390</tt>  <tt class="py-line">        <tt class="py-keyword">if</tt> <tt class="py-name">newval</tt><tt class="py-op">!=</tt><tt class="py-name">val</tt><tt class="py-op">:</tt> </tt>
<a name="L391"></a><tt class="py-lineno">391</tt>  <tt class="py-line">            <tt class="py-keyword">print</tt> <tt class="py-string">"Failed to poke %02x to %02x.  Got %02x."</tt> <tt class="py-op">%</tt> <tt class="py-op">(</tt><tt class="py-name">adr</tt><tt class="py-op">,</tt><tt class="py-name">val</tt><tt class="py-op">,</tt><tt class="py-name">newval</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L392"></a><tt class="py-lineno">392</tt>  <tt class="py-line">            <tt class="py-keyword">print</tt> <tt class="py-string">"Are you not in idle mode?"</tt><tt class="py-op">;</tt> </tt>
<a name="L393"></a><tt class="py-lineno">393</tt>  <tt class="py-line">        <tt class="py-keyword">return</tt> <tt class="py-name">val</tt><tt class="py-op">;</tt> </tt>
</div><a name="GoodFETMCPCAN.MCPbitmodify"></a><div id="GoodFETMCPCAN.MCPbitmodify-def"><a name="L394"></a><tt class="py-lineno">394</tt> <a class="py-toggle" href="#" id="GoodFETMCPCAN.MCPbitmodify-toggle" onclick="return toggle('GoodFETMCPCAN.MCPbitmodify');">-</a><tt class="py-line">    <tt class="py-keyword">def</tt> <a class="py-def-name" href="GoodFETMCPCAN.GoodFETMCPCAN-class.html#MCPbitmodify">MCPbitmodify</a><tt class="py-op">(</tt><tt class="py-param">self</tt><tt class="py-op">,</tt><tt class="py-param">adr</tt><tt class="py-op">,</tt><tt class="py-param">mask</tt><tt class="py-op">,</tt><tt class="py-param">data</tt><tt class="py-op">)</tt><tt class="py-op">:</tt> </tt>
</div><div id="GoodFETMCPCAN.MCPbitmodify-collapsed" style="display:none;" pad="+++" indent="++++++++"></div><div id="GoodFETMCPCAN.MCPbitmodify-expanded"><a name="L395"></a><tt class="py-lineno">395</tt>  <tt class="py-line">        <tt class="py-docstring">"""Writes a byte with a mask.  Doesn't work for many registers."""</tt> </tt>
<a name="L396"></a><tt class="py-lineno">396</tt>  <tt class="py-line">        <tt class="py-name">data</tt><tt class="py-op">=</tt><tt class="py-name">self</tt><tt class="py-op">.</tt><tt class="py-name">SPItrans</tt><tt class="py-op">(</tt><tt class="py-op">[</tt><tt class="py-number">0x05</tt><tt class="py-op">,</tt><tt class="py-name">adr</tt><tt class="py-op">&amp;</tt><tt class="py-number">0xFF</tt><tt class="py-op">,</tt><tt class="py-name">mask</tt><tt class="py-op">&amp;</tt><tt class="py-number">0xFF</tt><tt class="py-op">,</tt><tt class="py-name">data</tt><tt class="py-op">&amp;</tt><tt class="py-number">0xFF</tt><tt class="py-op">]</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
<a name="L397"></a><tt class="py-lineno">397</tt>  <tt class="py-line">        <tt class="py-keyword">return</tt> <tt class="py-name">ord</tt><tt class="py-op">(</tt><tt class="py-name">data</tt><tt class="py-op">[</tt><tt class="py-number">2</tt><tt class="py-op">]</tt><tt class="py-op">)</tt><tt class="py-op">;</tt> </tt>
</div></div><a name="L398"></a><tt class="py-lineno">398</tt>  <tt class="py-line"> </tt>
<a name="L399"></a><tt class="py-lineno">399</tt>  <tt class="py-line"><tt class="py-comment">############### DEBUG UTILITIES: STATUS MESSAGES ##############</tt> </tt>
<a name="L400"></a><tt class="py-lineno">400</tt>  <tt class="py-line"> </tt>
<a name="L401"></a><tt class="py-lineno">401</tt>  <tt class="py-line"><tt class="py-comment">#    def MCPrxstatusmessage(self):</tt> </tt>
<a name="L402"></a><tt class="py-lineno">402</tt>  <tt class="py-line"><tt class="py-comment">#        """Returns string indicating status of RX buffers"""</tt> </tt>
<a name="L403"></a><tt class="py-lineno">403</tt>  <tt class="py-line"><tt class="py-comment">#        status = self.MCPrxstatus();</tt> </tt>
<a name="L404"></a><tt class="py-lineno">404</tt>  <tt class="py-line"><tt class="py-comment">#</tt> </tt>
<a name="L405"></a><tt class="py-lineno">405</tt>  <tt class="py-line"><tt class="py-comment">#        if status &lt; 64:</tt> </tt>
<a name="L406"></a><tt class="py-lineno">406</tt>  <tt class="py-line"><tt class="py-comment">#            print "No RX message";</tt> </tt>
<a name="L407"></a><tt class="py-lineno">407</tt>  <tt class="py-line"><tt class="py-comment">#        elif status &lt; 128:</tt> </tt>
<a name="L408"></a><tt class="py-lineno">408</tt>  <tt class="py-line"><tt class="py-comment">#            print "Message in RXB0";</tt> </tt>
<a name="L409"></a><tt class="py-lineno">409</tt>  <tt class="py-line"><tt class="py-comment">#        elif status &lt; 192:</tt> </tt>
<a name="L410"></a><tt class="py-lineno">410</tt>  <tt class="py-line"><tt class="py-comment">#            print "Message in RXB1";</tt> </tt>
<a name="L411"></a><tt class="py-lineno">411</tt>  <tt class="py-line"><tt class="py-comment">#        else:</tt> </tt>
<a name="L412"></a><tt class="py-lineno">412</tt>  <tt class="py-line"><tt class="py-comment">#            print "Messages in both buffers";</tt> </tt>
<a name="L413"></a><tt class="py-lineno">413</tt>  <tt class="py-line"> </tt>
<a name="L414"></a><tt class="py-lineno">414</tt>  <tt class="py-line"> </tt>
<a name="L415"></a><tt class="py-lineno">415</tt>  <tt class="py-line"> </tt>
<a name="L416"></a><tt class="py-lineno">416</tt>  <tt class="py-line"><tt class="py-comment"># TXB0TRL = 0x30</tt> </tt>
<a name="L417"></a><tt class="py-lineno">417</tt>  <tt class="py-line"><tt class="py-comment"># RXB0CTRL = 0x60</tt> </tt>
<a name="L418"></a><tt class="py-lineno">418</tt>  <tt class="py-line"><tt class="py-comment"># CNF3/2/1 = 0x28, 29, 2a</tt> </tt>
<a name="L419"></a><tt class="py-lineno">419</tt>  <tt class="py-line"><tt class="py-comment"># CANINTE = 0x2b</tt> </tt>
<a name="L420"></a><tt class="py-lineno">420</tt>  <tt class="py-line"><tt class="py-comment"># CANINTF = 0x2c</tt> </tt>
<a name="L421"></a><tt class="py-lineno">421</tt>  <tt class="py-line"><tt class="py-comment"># TXRTSCTRL = x0D</tt> </tt>
<a name="L422"></a><tt class="py-lineno">422</tt>  <tt class="py-line"> </tt><script type="text/javascript">
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